
kalman2:     file format elf64-littleaarch64


Disassembly of section .init:

0000000000400538 <_init>:
  400538:	a9bf7bfd 	stp	x29, x30, [sp, #-16]!
  40053c:	910003fd 	mov	x29, sp
  400540:	9400003a 	bl	400628 <call_weak_fn>
  400544:	a8c17bfd 	ldp	x29, x30, [sp], #16
  400548:	d65f03c0 	ret

Disassembly of section .plt:

0000000000400550 <.plt>:
  400550:	a9bf7bf0 	stp	x16, x30, [sp, #-16]!
  400554:	d0000090 	adrp	x16, 412000 <__FRAME_END__+0x10150>
  400558:	f947fe11 	ldr	x17, [x16, #4088]
  40055c:	913fe210 	add	x16, x16, #0xff8
  400560:	d61f0220 	br	x17
  400564:	d503201f 	nop
  400568:	d503201f 	nop
  40056c:	d503201f 	nop

0000000000400570 <malloc@plt>:
  400570:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400574:	f9400211 	ldr	x17, [x16]
  400578:	91000210 	add	x16, x16, #0x0
  40057c:	d61f0220 	br	x17

0000000000400580 <__libc_start_main@plt>:
  400580:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400584:	f9400611 	ldr	x17, [x16, #8]
  400588:	91002210 	add	x16, x16, #0x8
  40058c:	d61f0220 	br	x17

0000000000400590 <__gmon_start__@plt>:
  400590:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  400594:	f9400a11 	ldr	x17, [x16, #16]
  400598:	91004210 	add	x16, x16, #0x10
  40059c:	d61f0220 	br	x17

00000000004005a0 <abort@plt>:
  4005a0:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  4005a4:	f9400e11 	ldr	x17, [x16, #24]
  4005a8:	91006210 	add	x16, x16, #0x18
  4005ac:	d61f0220 	br	x17

00000000004005b0 <puts@plt>:
  4005b0:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  4005b4:	f9401211 	ldr	x17, [x16, #32]
  4005b8:	91008210 	add	x16, x16, #0x20
  4005bc:	d61f0220 	br	x17

00000000004005c0 <free@plt>:
  4005c0:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  4005c4:	f9401611 	ldr	x17, [x16, #40]
  4005c8:	9100a210 	add	x16, x16, #0x28
  4005cc:	d61f0220 	br	x17

00000000004005d0 <printf@plt>:
  4005d0:	f0000090 	adrp	x16, 413000 <malloc@GLIBC_2.17>
  4005d4:	f9401a11 	ldr	x17, [x16, #48]
  4005d8:	9100c210 	add	x16, x16, #0x30
  4005dc:	d61f0220 	br	x17

Disassembly of section .text:

00000000004005e0 <_start>:
  4005e0:	d280001d 	mov	x29, #0x0                   	// #0
  4005e4:	d280001e 	mov	x30, #0x0                   	// #0
  4005e8:	aa0003e5 	mov	x5, x0
  4005ec:	f94003e1 	ldr	x1, [sp]
  4005f0:	910023e2 	add	x2, sp, #0x8
  4005f4:	910003e6 	mov	x6, sp
  4005f8:	580000c0 	ldr	x0, 400610 <_start+0x30>
  4005fc:	580000e3 	ldr	x3, 400618 <_start+0x38>
  400600:	58000104 	ldr	x4, 400620 <_start+0x40>
  400604:	97ffffdf 	bl	400580 <__libc_start_main@plt>
  400608:	97ffffe6 	bl	4005a0 <abort@plt>
  40060c:	00000000 	.inst	0x00000000 ; undefined
  400610:	00401db4 	.word	0x00401db4
  400614:	00000000 	.word	0x00000000
  400618:	00401de0 	.word	0x00401de0
  40061c:	00000000 	.word	0x00000000
  400620:	00401e60 	.word	0x00401e60
  400624:	00000000 	.word	0x00000000

0000000000400628 <call_weak_fn>:
  400628:	d0000080 	adrp	x0, 412000 <__FRAME_END__+0x10150>
  40062c:	f947f000 	ldr	x0, [x0, #4064]
  400630:	b4000040 	cbz	x0, 400638 <call_weak_fn+0x10>
  400634:	17ffffd7 	b	400590 <__gmon_start__@plt>
  400638:	d65f03c0 	ret
  40063c:	00000000 	.inst	0x00000000 ; undefined

0000000000400640 <deregister_tm_clones>:
  400640:	f0000080 	adrp	x0, 413000 <malloc@GLIBC_2.17>
  400644:	91012000 	add	x0, x0, #0x48
  400648:	f0000081 	adrp	x1, 413000 <malloc@GLIBC_2.17>
  40064c:	91012021 	add	x1, x1, #0x48
  400650:	eb00003f 	cmp	x1, x0
  400654:	540000a0 	b.eq	400668 <deregister_tm_clones+0x28>  // b.none
  400658:	b0000001 	adrp	x1, 401000 <kalman+0x158>
  40065c:	f9474021 	ldr	x1, [x1, #3712]
  400660:	b4000041 	cbz	x1, 400668 <deregister_tm_clones+0x28>
  400664:	d61f0020 	br	x1
  400668:	d65f03c0 	ret
  40066c:	d503201f 	nop

0000000000400670 <register_tm_clones>:
  400670:	f0000080 	adrp	x0, 413000 <malloc@GLIBC_2.17>
  400674:	91012000 	add	x0, x0, #0x48
  400678:	f0000081 	adrp	x1, 413000 <malloc@GLIBC_2.17>
  40067c:	91012021 	add	x1, x1, #0x48
  400680:	cb000021 	sub	x1, x1, x0
  400684:	9343fc21 	asr	x1, x1, #3
  400688:	8b41fc21 	add	x1, x1, x1, lsr #63
  40068c:	9341fc21 	asr	x1, x1, #1
  400690:	b40000a1 	cbz	x1, 4006a4 <register_tm_clones+0x34>
  400694:	b0000002 	adrp	x2, 401000 <kalman+0x158>
  400698:	f9474442 	ldr	x2, [x2, #3720]
  40069c:	b4000042 	cbz	x2, 4006a4 <register_tm_clones+0x34>
  4006a0:	d61f0040 	br	x2
  4006a4:	d65f03c0 	ret

00000000004006a8 <__do_global_dtors_aux>:
  4006a8:	a9be7bfd 	stp	x29, x30, [sp, #-32]!
  4006ac:	910003fd 	mov	x29, sp
  4006b0:	f9000bf3 	str	x19, [sp, #16]
  4006b4:	f0000093 	adrp	x19, 413000 <malloc@GLIBC_2.17>
  4006b8:	39412260 	ldrb	w0, [x19, #72]
  4006bc:	35000080 	cbnz	w0, 4006cc <__do_global_dtors_aux+0x24>
  4006c0:	97ffffe0 	bl	400640 <deregister_tm_clones>
  4006c4:	52800020 	mov	w0, #0x1                   	// #1
  4006c8:	39012260 	strb	w0, [x19, #72]
  4006cc:	f9400bf3 	ldr	x19, [sp, #16]
  4006d0:	a8c27bfd 	ldp	x29, x30, [sp], #32
  4006d4:	d65f03c0 	ret

00000000004006d8 <frame_dummy>:
  4006d8:	17ffffe6 	b	400670 <register_tm_clones>

00000000004006dc <rinv>:
  4006dc:	a9ba7bfd 	stp	x29, x30, [sp, #-96]!
  4006e0:	910003fd 	mov	x29, sp
  4006e4:	b9001fa0 	str	w0, [x29, #28]
  4006e8:	f9000ba1 	str	x1, [x29, #16]
  4006ec:	b9801fa0 	ldrsw	x0, [x29, #28]
  4006f0:	d37ef400 	lsl	x0, x0, #2
  4006f4:	97ffff9f 	bl	400570 <malloc@plt>
  4006f8:	f90027a0 	str	x0, [x29, #72]
  4006fc:	b9801fa0 	ldrsw	x0, [x29, #28]
  400700:	d37ef400 	lsl	x0, x0, #2
  400704:	97ffff9b 	bl	400570 <malloc@plt>
  400708:	f90023a0 	str	x0, [x29, #64]
  40070c:	b9005fbf 	str	wzr, [x29, #92]
  400710:	1400015d 	b	400c84 <rinv+0x5a8>
  400714:	f9002bbf 	str	xzr, [x29, #80]
  400718:	b9405fa0 	ldr	w0, [x29, #92]
  40071c:	b90027a0 	str	w0, [x29, #36]
  400720:	1400002f 	b	4007dc <rinv+0x100>
  400724:	b9405fa0 	ldr	w0, [x29, #92]
  400728:	b9003fa0 	str	w0, [x29, #60]
  40072c:	14000023 	b	4007b8 <rinv+0xdc>
  400730:	b94027a1 	ldr	w1, [x29, #36]
  400734:	b9401fa0 	ldr	w0, [x29, #28]
  400738:	1b007c20 	mul	w0, w1, w0
  40073c:	b9403fa1 	ldr	w1, [x29, #60]
  400740:	0b000020 	add	w0, w1, w0
  400744:	b90023a0 	str	w0, [x29, #32]
  400748:	b98023a0 	ldrsw	x0, [x29, #32]
  40074c:	d37df000 	lsl	x0, x0, #3
  400750:	f9400ba1 	ldr	x1, [x29, #16]
  400754:	8b000020 	add	x0, x1, x0
  400758:	fd400000 	ldr	d0, [x0]
  40075c:	1e60c000 	fabs	d0, d0
  400760:	fd0017a0 	str	d0, [x29, #40]
  400764:	fd4017a1 	ldr	d1, [x29, #40]
  400768:	fd402ba0 	ldr	d0, [x29, #80]
  40076c:	1e602030 	fcmpe	d1, d0
  400770:	540001ed 	b.le	4007ac <rinv+0xd0>
  400774:	fd4017a0 	ldr	d0, [x29, #40]
  400778:	fd002ba0 	str	d0, [x29, #80]
  40077c:	b9805fa0 	ldrsw	x0, [x29, #92]
  400780:	d37ef400 	lsl	x0, x0, #2
  400784:	f94027a1 	ldr	x1, [x29, #72]
  400788:	8b000020 	add	x0, x1, x0
  40078c:	b94027a1 	ldr	w1, [x29, #36]
  400790:	b9000001 	str	w1, [x0]
  400794:	b9805fa0 	ldrsw	x0, [x29, #92]
  400798:	d37ef400 	lsl	x0, x0, #2
  40079c:	f94023a1 	ldr	x1, [x29, #64]
  4007a0:	8b000020 	add	x0, x1, x0
  4007a4:	b9403fa1 	ldr	w1, [x29, #60]
  4007a8:	b9000001 	str	w1, [x0]
  4007ac:	b9403fa0 	ldr	w0, [x29, #60]
  4007b0:	11000400 	add	w0, w0, #0x1
  4007b4:	b9003fa0 	str	w0, [x29, #60]
  4007b8:	b9401fa0 	ldr	w0, [x29, #28]
  4007bc:	51000400 	sub	w0, w0, #0x1
  4007c0:	b9003fa0 	str	w0, [x29, #60]
  4007c4:	b9403fa0 	ldr	w0, [x29, #60]
  4007c8:	7100001f 	cmp	w0, #0x0
  4007cc:	54fffb21 	b.ne	400730 <rinv+0x54>  // b.any
  4007d0:	b94027a0 	ldr	w0, [x29, #36]
  4007d4:	11000400 	add	w0, w0, #0x1
  4007d8:	b90027a0 	str	w0, [x29, #36]
  4007dc:	b9401fa0 	ldr	w0, [x29, #28]
  4007e0:	51000400 	sub	w0, w0, #0x1
  4007e4:	b90027a0 	str	w0, [x29, #36]
  4007e8:	b94027a0 	ldr	w0, [x29, #36]
  4007ec:	7100001f 	cmp	w0, #0x0
  4007f0:	54fff9a1 	b.ne	400724 <rinv+0x48>  // b.any
  4007f4:	fd402ba1 	ldr	d1, [x29, #80]
  4007f8:	1e6e1000 	fmov	d0, #1.000000000000000000e+00
  4007fc:	1e602821 	fadd	d1, d1, d0
  400800:	1e6e1000 	fmov	d0, #1.000000000000000000e+00
  400804:	1e602020 	fcmp	d1, d0
  400808:	54000141 	b.ne	400830 <rinv+0x154>  // b.any
  40080c:	f94027a0 	ldr	x0, [x29, #72]
  400810:	97ffff6c 	bl	4005c0 <free@plt>
  400814:	f94023a0 	ldr	x0, [x29, #64]
  400818:	97ffff6a 	bl	4005c0 <free@plt>
  40081c:	b0000000 	adrp	x0, 401000 <kalman+0x158>
  400820:	913a4000 	add	x0, x0, #0xe90
  400824:	97ffff63 	bl	4005b0 <puts@plt>
  400828:	52800000 	mov	w0, #0x0                   	// #0
  40082c:	1400019d 	b	400ea0 <rinv+0x7c4>
  400830:	b9805fa0 	ldrsw	x0, [x29, #92]
  400834:	d37ef400 	lsl	x0, x0, #2
  400838:	f94027a1 	ldr	x1, [x29, #72]
  40083c:	8b000020 	add	x0, x1, x0
  400840:	b9400000 	ldr	w0, [x0]
  400844:	b9405fa1 	ldr	w1, [x29, #92]
  400848:	6b00003f 	cmp	w1, w0
  40084c:	54000640 	b.eq	400914 <rinv+0x238>  // b.none
  400850:	b9003fbf 	str	wzr, [x29, #60]
  400854:	1400002a 	b	4008fc <rinv+0x220>
  400858:	b9405fa1 	ldr	w1, [x29, #92]
  40085c:	b9401fa0 	ldr	w0, [x29, #28]
  400860:	1b007c20 	mul	w0, w1, w0
  400864:	b9403fa1 	ldr	w1, [x29, #60]
  400868:	0b000020 	add	w0, w1, w0
  40086c:	b9003ba0 	str	w0, [x29, #56]
  400870:	b9805fa0 	ldrsw	x0, [x29, #92]
  400874:	d37ef400 	lsl	x0, x0, #2
  400878:	f94027a1 	ldr	x1, [x29, #72]
  40087c:	8b000020 	add	x0, x1, x0
  400880:	b9400001 	ldr	w1, [x0]
  400884:	b9401fa0 	ldr	w0, [x29, #28]
  400888:	1b007c20 	mul	w0, w1, w0
  40088c:	b9403fa1 	ldr	w1, [x29, #60]
  400890:	0b000020 	add	w0, w1, w0
  400894:	b90037a0 	str	w0, [x29, #52]
  400898:	b9803ba0 	ldrsw	x0, [x29, #56]
  40089c:	d37df000 	lsl	x0, x0, #3
  4008a0:	f9400ba1 	ldr	x1, [x29, #16]
  4008a4:	8b000020 	add	x0, x1, x0
  4008a8:	fd400000 	ldr	d0, [x0]
  4008ac:	fd0017a0 	str	d0, [x29, #40]
  4008b0:	b98037a0 	ldrsw	x0, [x29, #52]
  4008b4:	d37df000 	lsl	x0, x0, #3
  4008b8:	f9400ba1 	ldr	x1, [x29, #16]
  4008bc:	8b000021 	add	x1, x1, x0
  4008c0:	b9803ba0 	ldrsw	x0, [x29, #56]
  4008c4:	d37df000 	lsl	x0, x0, #3
  4008c8:	f9400ba2 	ldr	x2, [x29, #16]
  4008cc:	8b000040 	add	x0, x2, x0
  4008d0:	fd400020 	ldr	d0, [x1]
  4008d4:	fd000000 	str	d0, [x0]
  4008d8:	b98037a0 	ldrsw	x0, [x29, #52]
  4008dc:	d37df000 	lsl	x0, x0, #3
  4008e0:	f9400ba1 	ldr	x1, [x29, #16]
  4008e4:	8b000020 	add	x0, x1, x0
  4008e8:	fd4017a0 	ldr	d0, [x29, #40]
  4008ec:	fd000000 	str	d0, [x0]
  4008f0:	b9403fa0 	ldr	w0, [x29, #60]
  4008f4:	11000400 	add	w0, w0, #0x1
  4008f8:	b9003fa0 	str	w0, [x29, #60]
  4008fc:	b9401fa0 	ldr	w0, [x29, #28]
  400900:	51000400 	sub	w0, w0, #0x1
  400904:	b9003fa0 	str	w0, [x29, #60]
  400908:	b9403fa0 	ldr	w0, [x29, #60]
  40090c:	7100001f 	cmp	w0, #0x0
  400910:	54fffa41 	b.ne	400858 <rinv+0x17c>  // b.any
  400914:	b9805fa0 	ldrsw	x0, [x29, #92]
  400918:	d37ef400 	lsl	x0, x0, #2
  40091c:	f94023a1 	ldr	x1, [x29, #64]
  400920:	8b000020 	add	x0, x1, x0
  400924:	b9400000 	ldr	w0, [x0]
  400928:	b9405fa1 	ldr	w1, [x29, #92]
  40092c:	6b00003f 	cmp	w1, w0
  400930:	54000640 	b.eq	4009f8 <rinv+0x31c>  // b.none
  400934:	b90027bf 	str	wzr, [x29, #36]
  400938:	1400002a 	b	4009e0 <rinv+0x304>
  40093c:	b94027a1 	ldr	w1, [x29, #36]
  400940:	b9401fa0 	ldr	w0, [x29, #28]
  400944:	1b007c20 	mul	w0, w1, w0
  400948:	b9405fa1 	ldr	w1, [x29, #92]
  40094c:	0b000020 	add	w0, w1, w0
  400950:	b9003ba0 	str	w0, [x29, #56]
  400954:	b94027a1 	ldr	w1, [x29, #36]
  400958:	b9401fa0 	ldr	w0, [x29, #28]
  40095c:	1b007c21 	mul	w1, w1, w0
  400960:	b9805fa0 	ldrsw	x0, [x29, #92]
  400964:	d37ef400 	lsl	x0, x0, #2
  400968:	f94023a2 	ldr	x2, [x29, #64]
  40096c:	8b000040 	add	x0, x2, x0
  400970:	b9400000 	ldr	w0, [x0]
  400974:	0b000020 	add	w0, w1, w0
  400978:	b90037a0 	str	w0, [x29, #52]
  40097c:	b9803ba0 	ldrsw	x0, [x29, #56]
  400980:	d37df000 	lsl	x0, x0, #3
  400984:	f9400ba1 	ldr	x1, [x29, #16]
  400988:	8b000020 	add	x0, x1, x0
  40098c:	fd400000 	ldr	d0, [x0]
  400990:	fd0017a0 	str	d0, [x29, #40]
  400994:	b98037a0 	ldrsw	x0, [x29, #52]
  400998:	d37df000 	lsl	x0, x0, #3
  40099c:	f9400ba1 	ldr	x1, [x29, #16]
  4009a0:	8b000021 	add	x1, x1, x0
  4009a4:	b9803ba0 	ldrsw	x0, [x29, #56]
  4009a8:	d37df000 	lsl	x0, x0, #3
  4009ac:	f9400ba2 	ldr	x2, [x29, #16]
  4009b0:	8b000040 	add	x0, x2, x0
  4009b4:	fd400020 	ldr	d0, [x1]
  4009b8:	fd000000 	str	d0, [x0]
  4009bc:	b98037a0 	ldrsw	x0, [x29, #52]
  4009c0:	d37df000 	lsl	x0, x0, #3
  4009c4:	f9400ba1 	ldr	x1, [x29, #16]
  4009c8:	8b000020 	add	x0, x1, x0
  4009cc:	fd4017a0 	ldr	d0, [x29, #40]
  4009d0:	fd000000 	str	d0, [x0]
  4009d4:	b94027a0 	ldr	w0, [x29, #36]
  4009d8:	11000400 	add	w0, w0, #0x1
  4009dc:	b90027a0 	str	w0, [x29, #36]
  4009e0:	b9401fa0 	ldr	w0, [x29, #28]
  4009e4:	51000400 	sub	w0, w0, #0x1
  4009e8:	b90027a0 	str	w0, [x29, #36]
  4009ec:	b94027a0 	ldr	w0, [x29, #36]
  4009f0:	7100001f 	cmp	w0, #0x0
  4009f4:	54fffa41 	b.ne	40093c <rinv+0x260>  // b.any
  4009f8:	b9401fa0 	ldr	w0, [x29, #28]
  4009fc:	11000400 	add	w0, w0, #0x1
  400a00:	b9405fa1 	ldr	w1, [x29, #92]
  400a04:	1b007c20 	mul	w0, w1, w0
  400a08:	b90023a0 	str	w0, [x29, #32]
  400a0c:	b98023a0 	ldrsw	x0, [x29, #32]
  400a10:	d37df000 	lsl	x0, x0, #3
  400a14:	f9400ba1 	ldr	x1, [x29, #16]
  400a18:	8b000020 	add	x0, x1, x0
  400a1c:	fd400000 	ldr	d0, [x0]
  400a20:	b98023a0 	ldrsw	x0, [x29, #32]
  400a24:	d37df000 	lsl	x0, x0, #3
  400a28:	f9400ba1 	ldr	x1, [x29, #16]
  400a2c:	8b000020 	add	x0, x1, x0
  400a30:	1e6e1001 	fmov	d1, #1.000000000000000000e+00
  400a34:	1e601820 	fdiv	d0, d1, d0
  400a38:	fd000000 	str	d0, [x0]
  400a3c:	b9003fbf 	str	wzr, [x29, #60]
  400a40:	1400001e 	b	400ab8 <rinv+0x3dc>
  400a44:	b9403fa1 	ldr	w1, [x29, #60]
  400a48:	b9405fa0 	ldr	w0, [x29, #92]
  400a4c:	6b00003f 	cmp	w1, w0
  400a50:	540002e0 	b.eq	400aac <rinv+0x3d0>  // b.none
  400a54:	b9405fa1 	ldr	w1, [x29, #92]
  400a58:	b9401fa0 	ldr	w0, [x29, #28]
  400a5c:	1b007c20 	mul	w0, w1, w0
  400a60:	b9403fa1 	ldr	w1, [x29, #60]
  400a64:	0b000020 	add	w0, w1, w0
  400a68:	b9003ba0 	str	w0, [x29, #56]
  400a6c:	b9803ba0 	ldrsw	x0, [x29, #56]
  400a70:	d37df000 	lsl	x0, x0, #3
  400a74:	f9400ba1 	ldr	x1, [x29, #16]
  400a78:	8b000020 	add	x0, x1, x0
  400a7c:	fd400001 	ldr	d1, [x0]
  400a80:	b98023a0 	ldrsw	x0, [x29, #32]
  400a84:	d37df000 	lsl	x0, x0, #3
  400a88:	f9400ba1 	ldr	x1, [x29, #16]
  400a8c:	8b000020 	add	x0, x1, x0
  400a90:	fd400000 	ldr	d0, [x0]
  400a94:	b9803ba0 	ldrsw	x0, [x29, #56]
  400a98:	d37df000 	lsl	x0, x0, #3
  400a9c:	f9400ba1 	ldr	x1, [x29, #16]
  400aa0:	8b000020 	add	x0, x1, x0
  400aa4:	1e600820 	fmul	d0, d1, d0
  400aa8:	fd000000 	str	d0, [x0]
  400aac:	b9403fa0 	ldr	w0, [x29, #60]
  400ab0:	11000400 	add	w0, w0, #0x1
  400ab4:	b9003fa0 	str	w0, [x29, #60]
  400ab8:	b9401fa0 	ldr	w0, [x29, #28]
  400abc:	51000400 	sub	w0, w0, #0x1
  400ac0:	b9003fa0 	str	w0, [x29, #60]
  400ac4:	b9403fa0 	ldr	w0, [x29, #60]
  400ac8:	7100001f 	cmp	w0, #0x0
  400acc:	54fffbc1 	b.ne	400a44 <rinv+0x368>  // b.any
  400ad0:	b90027bf 	str	wzr, [x29, #36]
  400ad4:	1400003d 	b	400bc8 <rinv+0x4ec>
  400ad8:	b94027a1 	ldr	w1, [x29, #36]
  400adc:	b9405fa0 	ldr	w0, [x29, #92]
  400ae0:	6b00003f 	cmp	w1, w0
  400ae4:	540006c0 	b.eq	400bbc <rinv+0x4e0>  // b.none
  400ae8:	b9003fbf 	str	wzr, [x29, #60]
  400aec:	1400002e 	b	400ba4 <rinv+0x4c8>
  400af0:	b9403fa1 	ldr	w1, [x29, #60]
  400af4:	b9405fa0 	ldr	w0, [x29, #92]
  400af8:	6b00003f 	cmp	w1, w0
  400afc:	540004e0 	b.eq	400b98 <rinv+0x4bc>  // b.none
  400b00:	b94027a1 	ldr	w1, [x29, #36]
  400b04:	b9401fa0 	ldr	w0, [x29, #28]
  400b08:	1b007c20 	mul	w0, w1, w0
  400b0c:	b9403fa1 	ldr	w1, [x29, #60]
  400b10:	0b000020 	add	w0, w1, w0
  400b14:	b9003ba0 	str	w0, [x29, #56]
  400b18:	b9803ba0 	ldrsw	x0, [x29, #56]
  400b1c:	d37df000 	lsl	x0, x0, #3
  400b20:	f9400ba1 	ldr	x1, [x29, #16]
  400b24:	8b000020 	add	x0, x1, x0
  400b28:	fd400001 	ldr	d1, [x0]
  400b2c:	b94027a1 	ldr	w1, [x29, #36]
  400b30:	b9401fa0 	ldr	w0, [x29, #28]
  400b34:	1b007c21 	mul	w1, w1, w0
  400b38:	b9405fa0 	ldr	w0, [x29, #92]
  400b3c:	0b000020 	add	w0, w1, w0
  400b40:	93407c00 	sxtw	x0, w0
  400b44:	d37df000 	lsl	x0, x0, #3
  400b48:	f9400ba1 	ldr	x1, [x29, #16]
  400b4c:	8b000020 	add	x0, x1, x0
  400b50:	fd400002 	ldr	d2, [x0]
  400b54:	b9405fa1 	ldr	w1, [x29, #92]
  400b58:	b9401fa0 	ldr	w0, [x29, #28]
  400b5c:	1b007c21 	mul	w1, w1, w0
  400b60:	b9403fa0 	ldr	w0, [x29, #60]
  400b64:	0b000020 	add	w0, w1, w0
  400b68:	93407c00 	sxtw	x0, w0
  400b6c:	d37df000 	lsl	x0, x0, #3
  400b70:	f9400ba1 	ldr	x1, [x29, #16]
  400b74:	8b000020 	add	x0, x1, x0
  400b78:	fd400000 	ldr	d0, [x0]
  400b7c:	1e600840 	fmul	d0, d2, d0
  400b80:	b9803ba0 	ldrsw	x0, [x29, #56]
  400b84:	d37df000 	lsl	x0, x0, #3
  400b88:	f9400ba1 	ldr	x1, [x29, #16]
  400b8c:	8b000020 	add	x0, x1, x0
  400b90:	1e603820 	fsub	d0, d1, d0
  400b94:	fd000000 	str	d0, [x0]
  400b98:	b9403fa0 	ldr	w0, [x29, #60]
  400b9c:	11000400 	add	w0, w0, #0x1
  400ba0:	b9003fa0 	str	w0, [x29, #60]
  400ba4:	b9401fa0 	ldr	w0, [x29, #28]
  400ba8:	51000400 	sub	w0, w0, #0x1
  400bac:	b9003fa0 	str	w0, [x29, #60]
  400bb0:	b9403fa0 	ldr	w0, [x29, #60]
  400bb4:	7100001f 	cmp	w0, #0x0
  400bb8:	54fff9c1 	b.ne	400af0 <rinv+0x414>  // b.any
  400bbc:	b94027a0 	ldr	w0, [x29, #36]
  400bc0:	11000400 	add	w0, w0, #0x1
  400bc4:	b90027a0 	str	w0, [x29, #36]
  400bc8:	b9401fa0 	ldr	w0, [x29, #28]
  400bcc:	51000400 	sub	w0, w0, #0x1
  400bd0:	b90027a0 	str	w0, [x29, #36]
  400bd4:	b94027a0 	ldr	w0, [x29, #36]
  400bd8:	7100001f 	cmp	w0, #0x0
  400bdc:	54fff7e1 	b.ne	400ad8 <rinv+0x3fc>  // b.any
  400be0:	b90027bf 	str	wzr, [x29, #36]
  400be4:	1400001f 	b	400c60 <rinv+0x584>
  400be8:	b94027a1 	ldr	w1, [x29, #36]
  400bec:	b9405fa0 	ldr	w0, [x29, #92]
  400bf0:	6b00003f 	cmp	w1, w0
  400bf4:	54000300 	b.eq	400c54 <rinv+0x578>  // b.none
  400bf8:	b94027a1 	ldr	w1, [x29, #36]
  400bfc:	b9401fa0 	ldr	w0, [x29, #28]
  400c00:	1b007c20 	mul	w0, w1, w0
  400c04:	b9405fa1 	ldr	w1, [x29, #92]
  400c08:	0b000020 	add	w0, w1, w0
  400c0c:	b9003ba0 	str	w0, [x29, #56]
  400c10:	b9803ba0 	ldrsw	x0, [x29, #56]
  400c14:	d37df000 	lsl	x0, x0, #3
  400c18:	f9400ba1 	ldr	x1, [x29, #16]
  400c1c:	8b000020 	add	x0, x1, x0
  400c20:	fd400000 	ldr	d0, [x0]
  400c24:	1e614001 	fneg	d1, d0
  400c28:	b98023a0 	ldrsw	x0, [x29, #32]
  400c2c:	d37df000 	lsl	x0, x0, #3
  400c30:	f9400ba1 	ldr	x1, [x29, #16]
  400c34:	8b000020 	add	x0, x1, x0
  400c38:	fd400000 	ldr	d0, [x0]
  400c3c:	b9803ba0 	ldrsw	x0, [x29, #56]
  400c40:	d37df000 	lsl	x0, x0, #3
  400c44:	f9400ba1 	ldr	x1, [x29, #16]
  400c48:	8b000020 	add	x0, x1, x0
  400c4c:	1e600820 	fmul	d0, d1, d0
  400c50:	fd000000 	str	d0, [x0]
  400c54:	b94027a0 	ldr	w0, [x29, #36]
  400c58:	11000400 	add	w0, w0, #0x1
  400c5c:	b90027a0 	str	w0, [x29, #36]
  400c60:	b9401fa0 	ldr	w0, [x29, #28]
  400c64:	51000400 	sub	w0, w0, #0x1
  400c68:	b90027a0 	str	w0, [x29, #36]
  400c6c:	b94027a0 	ldr	w0, [x29, #36]
  400c70:	7100001f 	cmp	w0, #0x0
  400c74:	54fffba1 	b.ne	400be8 <rinv+0x50c>  // b.any
  400c78:	b9405fa0 	ldr	w0, [x29, #92]
  400c7c:	11000400 	add	w0, w0, #0x1
  400c80:	b9005fa0 	str	w0, [x29, #92]
  400c84:	b9401fa0 	ldr	w0, [x29, #28]
  400c88:	51000400 	sub	w0, w0, #0x1
  400c8c:	b9005fa0 	str	w0, [x29, #92]
  400c90:	b9405fa0 	ldr	w0, [x29, #92]
  400c94:	7100001f 	cmp	w0, #0x0
  400c98:	54ffd3e1 	b.ne	400714 <rinv+0x38>  // b.any
  400c9c:	b9401fa0 	ldr	w0, [x29, #28]
  400ca0:	51000400 	sub	w0, w0, #0x1
  400ca4:	b9005fa0 	str	w0, [x29, #92]
  400ca8:	14000076 	b	400e80 <rinv+0x7a4>
  400cac:	b9805fa0 	ldrsw	x0, [x29, #92]
  400cb0:	d37ef400 	lsl	x0, x0, #2
  400cb4:	f94023a1 	ldr	x1, [x29, #64]
  400cb8:	8b000020 	add	x0, x1, x0
  400cbc:	b9400000 	ldr	w0, [x0]
  400cc0:	b9405fa1 	ldr	w1, [x29, #92]
  400cc4:	6b00003f 	cmp	w1, w0
  400cc8:	54000640 	b.eq	400d90 <rinv+0x6b4>  // b.none
  400ccc:	b9003fbf 	str	wzr, [x29, #60]
  400cd0:	1400002a 	b	400d78 <rinv+0x69c>
  400cd4:	b9405fa1 	ldr	w1, [x29, #92]
  400cd8:	b9401fa0 	ldr	w0, [x29, #28]
  400cdc:	1b007c20 	mul	w0, w1, w0
  400ce0:	b9403fa1 	ldr	w1, [x29, #60]
  400ce4:	0b000020 	add	w0, w1, w0
  400ce8:	b9003ba0 	str	w0, [x29, #56]
  400cec:	b9805fa0 	ldrsw	x0, [x29, #92]
  400cf0:	d37ef400 	lsl	x0, x0, #2
  400cf4:	f94023a1 	ldr	x1, [x29, #64]
  400cf8:	8b000020 	add	x0, x1, x0
  400cfc:	b9400001 	ldr	w1, [x0]
  400d00:	b9401fa0 	ldr	w0, [x29, #28]
  400d04:	1b007c20 	mul	w0, w1, w0
  400d08:	b9403fa1 	ldr	w1, [x29, #60]
  400d0c:	0b000020 	add	w0, w1, w0
  400d10:	b90037a0 	str	w0, [x29, #52]
  400d14:	b9803ba0 	ldrsw	x0, [x29, #56]
  400d18:	d37df000 	lsl	x0, x0, #3
  400d1c:	f9400ba1 	ldr	x1, [x29, #16]
  400d20:	8b000020 	add	x0, x1, x0
  400d24:	fd400000 	ldr	d0, [x0]
  400d28:	fd0017a0 	str	d0, [x29, #40]
  400d2c:	b98037a0 	ldrsw	x0, [x29, #52]
  400d30:	d37df000 	lsl	x0, x0, #3
  400d34:	f9400ba1 	ldr	x1, [x29, #16]
  400d38:	8b000021 	add	x1, x1, x0
  400d3c:	b9803ba0 	ldrsw	x0, [x29, #56]
  400d40:	d37df000 	lsl	x0, x0, #3
  400d44:	f9400ba2 	ldr	x2, [x29, #16]
  400d48:	8b000040 	add	x0, x2, x0
  400d4c:	fd400020 	ldr	d0, [x1]
  400d50:	fd000000 	str	d0, [x0]
  400d54:	b98037a0 	ldrsw	x0, [x29, #52]
  400d58:	d37df000 	lsl	x0, x0, #3
  400d5c:	f9400ba1 	ldr	x1, [x29, #16]
  400d60:	8b000020 	add	x0, x1, x0
  400d64:	fd4017a0 	ldr	d0, [x29, #40]
  400d68:	fd000000 	str	d0, [x0]
  400d6c:	b9403fa0 	ldr	w0, [x29, #60]
  400d70:	11000400 	add	w0, w0, #0x1
  400d74:	b9003fa0 	str	w0, [x29, #60]
  400d78:	b9401fa0 	ldr	w0, [x29, #28]
  400d7c:	51000400 	sub	w0, w0, #0x1
  400d80:	b9003fa0 	str	w0, [x29, #60]
  400d84:	b9403fa0 	ldr	w0, [x29, #60]
  400d88:	7100001f 	cmp	w0, #0x0
  400d8c:	54fffa41 	b.ne	400cd4 <rinv+0x5f8>  // b.any
  400d90:	b9805fa0 	ldrsw	x0, [x29, #92]
  400d94:	d37ef400 	lsl	x0, x0, #2
  400d98:	f94027a1 	ldr	x1, [x29, #72]
  400d9c:	8b000020 	add	x0, x1, x0
  400da0:	b9400000 	ldr	w0, [x0]
  400da4:	b9405fa1 	ldr	w1, [x29, #92]
  400da8:	6b00003f 	cmp	w1, w0
  400dac:	54000640 	b.eq	400e74 <rinv+0x798>  // b.none
  400db0:	b90027bf 	str	wzr, [x29, #36]
  400db4:	1400002a 	b	400e5c <rinv+0x780>
  400db8:	b94027a1 	ldr	w1, [x29, #36]
  400dbc:	b9401fa0 	ldr	w0, [x29, #28]
  400dc0:	1b007c20 	mul	w0, w1, w0
  400dc4:	b9405fa1 	ldr	w1, [x29, #92]
  400dc8:	0b000020 	add	w0, w1, w0
  400dcc:	b9003ba0 	str	w0, [x29, #56]
  400dd0:	b94027a1 	ldr	w1, [x29, #36]
  400dd4:	b9401fa0 	ldr	w0, [x29, #28]
  400dd8:	1b007c21 	mul	w1, w1, w0
  400ddc:	b9805fa0 	ldrsw	x0, [x29, #92]
  400de0:	d37ef400 	lsl	x0, x0, #2
  400de4:	f94027a2 	ldr	x2, [x29, #72]
  400de8:	8b000040 	add	x0, x2, x0
  400dec:	b9400000 	ldr	w0, [x0]
  400df0:	0b000020 	add	w0, w1, w0
  400df4:	b90037a0 	str	w0, [x29, #52]
  400df8:	b9803ba0 	ldrsw	x0, [x29, #56]
  400dfc:	d37df000 	lsl	x0, x0, #3
  400e00:	f9400ba1 	ldr	x1, [x29, #16]
  400e04:	8b000020 	add	x0, x1, x0
  400e08:	fd400000 	ldr	d0, [x0]
  400e0c:	fd0017a0 	str	d0, [x29, #40]
  400e10:	b98037a0 	ldrsw	x0, [x29, #52]
  400e14:	d37df000 	lsl	x0, x0, #3
  400e18:	f9400ba1 	ldr	x1, [x29, #16]
  400e1c:	8b000021 	add	x1, x1, x0
  400e20:	b9803ba0 	ldrsw	x0, [x29, #56]
  400e24:	d37df000 	lsl	x0, x0, #3
  400e28:	f9400ba2 	ldr	x2, [x29, #16]
  400e2c:	8b000040 	add	x0, x2, x0
  400e30:	fd400020 	ldr	d0, [x1]
  400e34:	fd000000 	str	d0, [x0]
  400e38:	b98037a0 	ldrsw	x0, [x29, #52]
  400e3c:	d37df000 	lsl	x0, x0, #3
  400e40:	f9400ba1 	ldr	x1, [x29, #16]
  400e44:	8b000020 	add	x0, x1, x0
  400e48:	fd4017a0 	ldr	d0, [x29, #40]
  400e4c:	fd000000 	str	d0, [x0]
  400e50:	b94027a0 	ldr	w0, [x29, #36]
  400e54:	11000400 	add	w0, w0, #0x1
  400e58:	b90027a0 	str	w0, [x29, #36]
  400e5c:	b9401fa0 	ldr	w0, [x29, #28]
  400e60:	51000400 	sub	w0, w0, #0x1
  400e64:	b90027a0 	str	w0, [x29, #36]
  400e68:	b94027a0 	ldr	w0, [x29, #36]
  400e6c:	7100001f 	cmp	w0, #0x0
  400e70:	54fffa41 	b.ne	400db8 <rinv+0x6dc>  // b.any
  400e74:	b9405fa0 	ldr	w0, [x29, #92]
  400e78:	51000400 	sub	w0, w0, #0x1
  400e7c:	b9005fa0 	str	w0, [x29, #92]
  400e80:	b9405fa0 	ldr	w0, [x29, #92]
  400e84:	7100001f 	cmp	w0, #0x0
  400e88:	54fff12a 	b.ge	400cac <rinv+0x5d0>  // b.tcont
  400e8c:	f94027a0 	ldr	x0, [x29, #72]
  400e90:	97fffdcc 	bl	4005c0 <free@plt>
  400e94:	f94023a0 	ldr	x0, [x29, #64]
  400e98:	97fffdca 	bl	4005c0 <free@plt>
  400e9c:	52800020 	mov	w0, #0x1                   	// #1
  400ea0:	a8c67bfd 	ldp	x29, x30, [sp], #96
  400ea4:	d65f03c0 	ret

0000000000400ea8 <kalman>:
  400ea8:	a9b77bfd 	stp	x29, x30, [sp, #-144]!
  400eac:	910003fd 	mov	x29, sp
  400eb0:	b9004fa0 	str	w0, [x29, #76]
  400eb4:	b9004ba1 	str	w1, [x29, #72]
  400eb8:	b90047a2 	str	w2, [x29, #68]
  400ebc:	f9001fa3 	str	x3, [x29, #56]
  400ec0:	f9001ba4 	str	x4, [x29, #48]
  400ec4:	f90017a5 	str	x5, [x29, #40]
  400ec8:	f90013a6 	str	x6, [x29, #32]
  400ecc:	f9000fa7 	str	x7, [x29, #24]
  400ed0:	b9404ba1 	ldr	w1, [x29, #72]
  400ed4:	b9404ba0 	ldr	w0, [x29, #72]
  400ed8:	1b007c20 	mul	w0, w1, w0
  400edc:	93407c00 	sxtw	x0, w0
  400ee0:	d37df000 	lsl	x0, x0, #3
  400ee4:	97fffda3 	bl	400570 <malloc@plt>
  400ee8:	f9003ba0 	str	x0, [x29, #112]
  400eec:	b9404ba0 	ldr	w0, [x29, #72]
  400ef0:	b9007fa0 	str	w0, [x29, #124]
  400ef4:	b9407fa1 	ldr	w1, [x29, #124]
  400ef8:	b9404fa0 	ldr	w0, [x29, #76]
  400efc:	6b00003f 	cmp	w1, w0
  400f00:	5400006a 	b.ge	400f0c <kalman+0x64>  // b.tcont
  400f04:	b9404fa0 	ldr	w0, [x29, #76]
  400f08:	b9007fa0 	str	w0, [x29, #124]
  400f0c:	b9407fa1 	ldr	w1, [x29, #124]
  400f10:	b9407fa0 	ldr	w0, [x29, #124]
  400f14:	1b007c20 	mul	w0, w1, w0
  400f18:	93407c00 	sxtw	x0, w0
  400f1c:	d37df000 	lsl	x0, x0, #3
  400f20:	97fffd94 	bl	400570 <malloc@plt>
  400f24:	f90037a0 	str	x0, [x29, #104]
  400f28:	b9407fa1 	ldr	w1, [x29, #124]
  400f2c:	b9407fa0 	ldr	w0, [x29, #124]
  400f30:	1b007c20 	mul	w0, w1, w0
  400f34:	93407c00 	sxtw	x0, w0
  400f38:	d37df000 	lsl	x0, x0, #3
  400f3c:	97fffd8d 	bl	400570 <malloc@plt>
  400f40:	f90033a0 	str	x0, [x29, #96]
  400f44:	b9008fbf 	str	wzr, [x29, #140]
  400f48:	14000043 	b	401054 <kalman+0x1ac>
  400f4c:	b9008bbf 	str	wzr, [x29, #136]
  400f50:	14000039 	b	401034 <kalman+0x18c>
  400f54:	b9408fa1 	ldr	w1, [x29, #140]
  400f58:	b9407fa0 	ldr	w0, [x29, #124]
  400f5c:	1b007c20 	mul	w0, w1, w0
  400f60:	b9408ba1 	ldr	w1, [x29, #136]
  400f64:	0b000020 	add	w0, w1, w0
  400f68:	b90083a0 	str	w0, [x29, #128]
  400f6c:	b98083a0 	ldrsw	x0, [x29, #128]
  400f70:	d37df000 	lsl	x0, x0, #3
  400f74:	f94037a1 	ldr	x1, [x29, #104]
  400f78:	8b000020 	add	x0, x1, x0
  400f7c:	f900001f 	str	xzr, [x0]
  400f80:	b90087bf 	str	wzr, [x29, #132]
  400f84:	14000024 	b	401014 <kalman+0x16c>
  400f88:	b98083a0 	ldrsw	x0, [x29, #128]
  400f8c:	d37df000 	lsl	x0, x0, #3
  400f90:	f94037a1 	ldr	x1, [x29, #104]
  400f94:	8b000020 	add	x0, x1, x0
  400f98:	fd400001 	ldr	d1, [x0]
  400f9c:	b9408fa1 	ldr	w1, [x29, #140]
  400fa0:	b9404fa0 	ldr	w0, [x29, #76]
  400fa4:	1b007c21 	mul	w1, w1, w0
  400fa8:	b94087a0 	ldr	w0, [x29, #132]
  400fac:	0b000020 	add	w0, w1, w0
  400fb0:	93407c00 	sxtw	x0, w0
  400fb4:	d37df000 	lsl	x0, x0, #3
  400fb8:	f9404fa1 	ldr	x1, [x29, #152]
  400fbc:	8b000020 	add	x0, x1, x0
  400fc0:	fd400002 	ldr	d2, [x0]
  400fc4:	b9408ba1 	ldr	w1, [x29, #136]
  400fc8:	b9404fa0 	ldr	w0, [x29, #76]
  400fcc:	1b007c21 	mul	w1, w1, w0
  400fd0:	b94087a0 	ldr	w0, [x29, #132]
  400fd4:	0b000020 	add	w0, w1, w0
  400fd8:	93407c00 	sxtw	x0, w0
  400fdc:	d37df000 	lsl	x0, x0, #3
  400fe0:	f9401fa1 	ldr	x1, [x29, #56]
  400fe4:	8b000020 	add	x0, x1, x0
  400fe8:	fd400000 	ldr	d0, [x0]
  400fec:	1e600840 	fmul	d0, d2, d0
  400ff0:	b98083a0 	ldrsw	x0, [x29, #128]
  400ff4:	d37df000 	lsl	x0, x0, #3
  400ff8:	f94037a1 	ldr	x1, [x29, #104]
  400ffc:	8b000020 	add	x0, x1, x0
  401000:	1e602820 	fadd	d0, d1, d0
  401004:	fd000000 	str	d0, [x0]
  401008:	b94087a0 	ldr	w0, [x29, #132]
  40100c:	11000400 	add	w0, w0, #0x1
  401010:	b90087a0 	str	w0, [x29, #132]
  401014:	b9404fa0 	ldr	w0, [x29, #76]
  401018:	51000400 	sub	w0, w0, #0x1
  40101c:	b94087a1 	ldr	w1, [x29, #132]
  401020:	6b00003f 	cmp	w1, w0
  401024:	54fffb2d 	b.le	400f88 <kalman+0xe0>
  401028:	b9408ba0 	ldr	w0, [x29, #136]
  40102c:	11000400 	add	w0, w0, #0x1
  401030:	b9008ba0 	str	w0, [x29, #136]
  401034:	b9404fa0 	ldr	w0, [x29, #76]
  401038:	51000400 	sub	w0, w0, #0x1
  40103c:	b9408ba1 	ldr	w1, [x29, #136]
  401040:	6b00003f 	cmp	w1, w0
  401044:	54fff88d 	b.le	400f54 <kalman+0xac>
  401048:	b9408fa0 	ldr	w0, [x29, #140]
  40104c:	11000400 	add	w0, w0, #0x1
  401050:	b9008fa0 	str	w0, [x29, #140]
  401054:	b9404fa0 	ldr	w0, [x29, #76]
  401058:	51000400 	sub	w0, w0, #0x1
  40105c:	b9408fa1 	ldr	w1, [x29, #140]
  401060:	6b00003f 	cmp	w1, w0
  401064:	54fff74d 	b.le	400f4c <kalman+0xa4>
  401068:	b9008fbf 	str	wzr, [x29, #140]
  40106c:	14000048 	b	40118c <kalman+0x2e4>
  401070:	b9008bbf 	str	wzr, [x29, #136]
  401074:	1400003e 	b	40116c <kalman+0x2c4>
  401078:	b9408fa1 	ldr	w1, [x29, #140]
  40107c:	b9404fa0 	ldr	w0, [x29, #76]
  401080:	1b007c20 	mul	w0, w1, w0
  401084:	b9408ba1 	ldr	w1, [x29, #136]
  401088:	0b000020 	add	w0, w1, w0
  40108c:	b90083a0 	str	w0, [x29, #128]
  401090:	b98083a0 	ldrsw	x0, [x29, #128]
  401094:	d37df000 	lsl	x0, x0, #3
  401098:	f9401ba1 	ldr	x1, [x29, #48]
  40109c:	8b000021 	add	x1, x1, x0
  4010a0:	b98083a0 	ldrsw	x0, [x29, #128]
  4010a4:	d37df000 	lsl	x0, x0, #3
  4010a8:	f9404fa2 	ldr	x2, [x29, #152]
  4010ac:	8b000040 	add	x0, x2, x0
  4010b0:	fd400020 	ldr	d0, [x1]
  4010b4:	fd000000 	str	d0, [x0]
  4010b8:	b90087bf 	str	wzr, [x29, #132]
  4010bc:	14000024 	b	40114c <kalman+0x2a4>
  4010c0:	b98083a0 	ldrsw	x0, [x29, #128]
  4010c4:	d37df000 	lsl	x0, x0, #3
  4010c8:	f9404fa1 	ldr	x1, [x29, #152]
  4010cc:	8b000020 	add	x0, x1, x0
  4010d0:	fd400001 	ldr	d1, [x0]
  4010d4:	b9408fa1 	ldr	w1, [x29, #140]
  4010d8:	b9404fa0 	ldr	w0, [x29, #76]
  4010dc:	1b007c21 	mul	w1, w1, w0
  4010e0:	b94087a0 	ldr	w0, [x29, #132]
  4010e4:	0b000020 	add	w0, w1, w0
  4010e8:	93407c00 	sxtw	x0, w0
  4010ec:	d37df000 	lsl	x0, x0, #3
  4010f0:	f9401fa1 	ldr	x1, [x29, #56]
  4010f4:	8b000020 	add	x0, x1, x0
  4010f8:	fd400002 	ldr	d2, [x0]
  4010fc:	b94087a1 	ldr	w1, [x29, #132]
  401100:	b9407fa0 	ldr	w0, [x29, #124]
  401104:	1b007c21 	mul	w1, w1, w0
  401108:	b9408ba0 	ldr	w0, [x29, #136]
  40110c:	0b000020 	add	w0, w1, w0
  401110:	93407c00 	sxtw	x0, w0
  401114:	d37df000 	lsl	x0, x0, #3
  401118:	f94037a1 	ldr	x1, [x29, #104]
  40111c:	8b000020 	add	x0, x1, x0
  401120:	fd400000 	ldr	d0, [x0]
  401124:	1e600840 	fmul	d0, d2, d0
  401128:	b98083a0 	ldrsw	x0, [x29, #128]
  40112c:	d37df000 	lsl	x0, x0, #3
  401130:	f9404fa1 	ldr	x1, [x29, #152]
  401134:	8b000020 	add	x0, x1, x0
  401138:	1e602820 	fadd	d0, d1, d0
  40113c:	fd000000 	str	d0, [x0]
  401140:	b94087a0 	ldr	w0, [x29, #132]
  401144:	11000400 	add	w0, w0, #0x1
  401148:	b90087a0 	str	w0, [x29, #132]
  40114c:	b9404fa0 	ldr	w0, [x29, #76]
  401150:	51000400 	sub	w0, w0, #0x1
  401154:	b94087a1 	ldr	w1, [x29, #132]
  401158:	6b00003f 	cmp	w1, w0
  40115c:	54fffb2d 	b.le	4010c0 <kalman+0x218>
  401160:	b9408ba0 	ldr	w0, [x29, #136]
  401164:	11000400 	add	w0, w0, #0x1
  401168:	b9008ba0 	str	w0, [x29, #136]
  40116c:	b9404fa0 	ldr	w0, [x29, #76]
  401170:	51000400 	sub	w0, w0, #0x1
  401174:	b9408ba1 	ldr	w1, [x29, #136]
  401178:	6b00003f 	cmp	w1, w0
  40117c:	54fff7ed 	b.le	401078 <kalman+0x1d0>
  401180:	b9408fa0 	ldr	w0, [x29, #140]
  401184:	11000400 	add	w0, w0, #0x1
  401188:	b9008fa0 	str	w0, [x29, #140]
  40118c:	b9404fa0 	ldr	w0, [x29, #76]
  401190:	51000400 	sub	w0, w0, #0x1
  401194:	b9408fa1 	ldr	w1, [x29, #140]
  401198:	6b00003f 	cmp	w1, w0
  40119c:	54fff6ad 	b.le	401070 <kalman+0x1c8>
  4011a0:	52800040 	mov	w0, #0x2                   	// #2
  4011a4:	b90083a0 	str	w0, [x29, #128]
  4011a8:	140002f6 	b	401d80 <kalman+0xed8>
  4011ac:	b9008fbf 	str	wzr, [x29, #140]
  4011b0:	14000043 	b	4012bc <kalman+0x414>
  4011b4:	b9008bbf 	str	wzr, [x29, #136]
  4011b8:	14000039 	b	40129c <kalman+0x3f4>
  4011bc:	b9408fa1 	ldr	w1, [x29, #140]
  4011c0:	b9407fa0 	ldr	w0, [x29, #124]
  4011c4:	1b007c20 	mul	w0, w1, w0
  4011c8:	b9408ba1 	ldr	w1, [x29, #136]
  4011cc:	0b000020 	add	w0, w1, w0
  4011d0:	b9005fa0 	str	w0, [x29, #92]
  4011d4:	b9805fa0 	ldrsw	x0, [x29, #92]
  4011d8:	d37df000 	lsl	x0, x0, #3
  4011dc:	f94037a1 	ldr	x1, [x29, #104]
  4011e0:	8b000020 	add	x0, x1, x0
  4011e4:	f900001f 	str	xzr, [x0]
  4011e8:	b90087bf 	str	wzr, [x29, #132]
  4011ec:	14000024 	b	40127c <kalman+0x3d4>
  4011f0:	b9805fa0 	ldrsw	x0, [x29, #92]
  4011f4:	d37df000 	lsl	x0, x0, #3
  4011f8:	f94037a1 	ldr	x1, [x29, #104]
  4011fc:	8b000020 	add	x0, x1, x0
  401200:	fd400001 	ldr	d1, [x0]
  401204:	b9408fa1 	ldr	w1, [x29, #140]
  401208:	b9404fa0 	ldr	w0, [x29, #76]
  40120c:	1b007c21 	mul	w1, w1, w0
  401210:	b94087a0 	ldr	w0, [x29, #132]
  401214:	0b000020 	add	w0, w1, w0
  401218:	93407c00 	sxtw	x0, w0
  40121c:	d37df000 	lsl	x0, x0, #3
  401220:	f9404fa1 	ldr	x1, [x29, #152]
  401224:	8b000020 	add	x0, x1, x0
  401228:	fd400002 	ldr	d2, [x0]
  40122c:	b9408ba1 	ldr	w1, [x29, #136]
  401230:	b9404fa0 	ldr	w0, [x29, #76]
  401234:	1b007c21 	mul	w1, w1, w0
  401238:	b94087a0 	ldr	w0, [x29, #132]
  40123c:	0b000020 	add	w0, w1, w0
  401240:	93407c00 	sxtw	x0, w0
  401244:	d37df000 	lsl	x0, x0, #3
  401248:	f94013a1 	ldr	x1, [x29, #32]
  40124c:	8b000020 	add	x0, x1, x0
  401250:	fd400000 	ldr	d0, [x0]
  401254:	1e600840 	fmul	d0, d2, d0
  401258:	b9805fa0 	ldrsw	x0, [x29, #92]
  40125c:	d37df000 	lsl	x0, x0, #3
  401260:	f94037a1 	ldr	x1, [x29, #104]
  401264:	8b000020 	add	x0, x1, x0
  401268:	1e602820 	fadd	d0, d1, d0
  40126c:	fd000000 	str	d0, [x0]
  401270:	b94087a0 	ldr	w0, [x29, #132]
  401274:	11000400 	add	w0, w0, #0x1
  401278:	b90087a0 	str	w0, [x29, #132]
  40127c:	b9404fa0 	ldr	w0, [x29, #76]
  401280:	51000400 	sub	w0, w0, #0x1
  401284:	b94087a1 	ldr	w1, [x29, #132]
  401288:	6b00003f 	cmp	w1, w0
  40128c:	54fffb2d 	b.le	4011f0 <kalman+0x348>
  401290:	b9408ba0 	ldr	w0, [x29, #136]
  401294:	11000400 	add	w0, w0, #0x1
  401298:	b9008ba0 	str	w0, [x29, #136]
  40129c:	b9404ba0 	ldr	w0, [x29, #72]
  4012a0:	51000400 	sub	w0, w0, #0x1
  4012a4:	b9408ba1 	ldr	w1, [x29, #136]
  4012a8:	6b00003f 	cmp	w1, w0
  4012ac:	54fff88d 	b.le	4011bc <kalman+0x314>
  4012b0:	b9408fa0 	ldr	w0, [x29, #140]
  4012b4:	11000400 	add	w0, w0, #0x1
  4012b8:	b9008fa0 	str	w0, [x29, #140]
  4012bc:	b9404fa0 	ldr	w0, [x29, #76]
  4012c0:	51000400 	sub	w0, w0, #0x1
  4012c4:	b9408fa1 	ldr	w1, [x29, #140]
  4012c8:	6b00003f 	cmp	w1, w0
  4012cc:	54fff74d 	b.le	4011b4 <kalman+0x30c>
  4012d0:	b9008fbf 	str	wzr, [x29, #140]
  4012d4:	14000048 	b	4013f4 <kalman+0x54c>
  4012d8:	b9008bbf 	str	wzr, [x29, #136]
  4012dc:	1400003e 	b	4013d4 <kalman+0x52c>
  4012e0:	b9408fa1 	ldr	w1, [x29, #140]
  4012e4:	b9404ba0 	ldr	w0, [x29, #72]
  4012e8:	1b007c20 	mul	w0, w1, w0
  4012ec:	b9408ba1 	ldr	w1, [x29, #136]
  4012f0:	0b000020 	add	w0, w1, w0
  4012f4:	b9005fa0 	str	w0, [x29, #92]
  4012f8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4012fc:	d37df000 	lsl	x0, x0, #3
  401300:	f94017a1 	ldr	x1, [x29, #40]
  401304:	8b000021 	add	x1, x1, x0
  401308:	b9805fa0 	ldrsw	x0, [x29, #92]
  40130c:	d37df000 	lsl	x0, x0, #3
  401310:	f9403ba2 	ldr	x2, [x29, #112]
  401314:	8b000040 	add	x0, x2, x0
  401318:	fd400020 	ldr	d0, [x1]
  40131c:	fd000000 	str	d0, [x0]
  401320:	b90087bf 	str	wzr, [x29, #132]
  401324:	14000024 	b	4013b4 <kalman+0x50c>
  401328:	b9805fa0 	ldrsw	x0, [x29, #92]
  40132c:	d37df000 	lsl	x0, x0, #3
  401330:	f9403ba1 	ldr	x1, [x29, #112]
  401334:	8b000020 	add	x0, x1, x0
  401338:	fd400001 	ldr	d1, [x0]
  40133c:	b9408fa1 	ldr	w1, [x29, #140]
  401340:	b9404fa0 	ldr	w0, [x29, #76]
  401344:	1b007c21 	mul	w1, w1, w0
  401348:	b94087a0 	ldr	w0, [x29, #132]
  40134c:	0b000020 	add	w0, w1, w0
  401350:	93407c00 	sxtw	x0, w0
  401354:	d37df000 	lsl	x0, x0, #3
  401358:	f94013a1 	ldr	x1, [x29, #32]
  40135c:	8b000020 	add	x0, x1, x0
  401360:	fd400002 	ldr	d2, [x0]
  401364:	b94087a1 	ldr	w1, [x29, #132]
  401368:	b9407fa0 	ldr	w0, [x29, #124]
  40136c:	1b007c21 	mul	w1, w1, w0
  401370:	b9408ba0 	ldr	w0, [x29, #136]
  401374:	0b000020 	add	w0, w1, w0
  401378:	93407c00 	sxtw	x0, w0
  40137c:	d37df000 	lsl	x0, x0, #3
  401380:	f94037a1 	ldr	x1, [x29, #104]
  401384:	8b000020 	add	x0, x1, x0
  401388:	fd400000 	ldr	d0, [x0]
  40138c:	1e600840 	fmul	d0, d2, d0
  401390:	b9805fa0 	ldrsw	x0, [x29, #92]
  401394:	d37df000 	lsl	x0, x0, #3
  401398:	f9403ba1 	ldr	x1, [x29, #112]
  40139c:	8b000020 	add	x0, x1, x0
  4013a0:	1e602820 	fadd	d0, d1, d0
  4013a4:	fd000000 	str	d0, [x0]
  4013a8:	b94087a0 	ldr	w0, [x29, #132]
  4013ac:	11000400 	add	w0, w0, #0x1
  4013b0:	b90087a0 	str	w0, [x29, #132]
  4013b4:	b9404fa0 	ldr	w0, [x29, #76]
  4013b8:	51000400 	sub	w0, w0, #0x1
  4013bc:	b94087a1 	ldr	w1, [x29, #132]
  4013c0:	6b00003f 	cmp	w1, w0
  4013c4:	54fffb2d 	b.le	401328 <kalman+0x480>
  4013c8:	b9408ba0 	ldr	w0, [x29, #136]
  4013cc:	11000400 	add	w0, w0, #0x1
  4013d0:	b9008ba0 	str	w0, [x29, #136]
  4013d4:	b9404ba0 	ldr	w0, [x29, #72]
  4013d8:	51000400 	sub	w0, w0, #0x1
  4013dc:	b9408ba1 	ldr	w1, [x29, #136]
  4013e0:	6b00003f 	cmp	w1, w0
  4013e4:	54fff7ed 	b.le	4012e0 <kalman+0x438>
  4013e8:	b9408fa0 	ldr	w0, [x29, #140]
  4013ec:	11000400 	add	w0, w0, #0x1
  4013f0:	b9008fa0 	str	w0, [x29, #140]
  4013f4:	b9404ba0 	ldr	w0, [x29, #72]
  4013f8:	51000400 	sub	w0, w0, #0x1
  4013fc:	b9408fa1 	ldr	w1, [x29, #140]
  401400:	6b00003f 	cmp	w1, w0
  401404:	54fff6ad 	b.le	4012d8 <kalman+0x430>
  401408:	f9403ba0 	ldr	x0, [x29, #112]
  40140c:	2a0003e2 	mov	w2, w0
  401410:	b9804ba0 	ldrsw	x0, [x29, #72]
  401414:	aa0003e1 	mov	x1, x0
  401418:	2a0203e0 	mov	w0, w2
  40141c:	97fffcb0 	bl	4006dc <rinv>
  401420:	b9007ba0 	str	w0, [x29, #120]
  401424:	b9407ba0 	ldr	w0, [x29, #120]
  401428:	7100001f 	cmp	w0, #0x0
  40142c:	54000121 	b.ne	401450 <kalman+0x5a8>  // b.any
  401430:	f9403ba0 	ldr	x0, [x29, #112]
  401434:	97fffc63 	bl	4005c0 <free@plt>
  401438:	f94037a0 	ldr	x0, [x29, #104]
  40143c:	97fffc61 	bl	4005c0 <free@plt>
  401440:	f94033a0 	ldr	x0, [x29, #96]
  401444:	97fffc5f 	bl	4005c0 <free@plt>
  401448:	b9407ba0 	ldr	w0, [x29, #120]
  40144c:	14000258 	b	401dac <kalman+0xf04>
  401450:	b9008fbf 	str	wzr, [x29, #140]
  401454:	14000043 	b	401560 <kalman+0x6b8>
  401458:	b9008bbf 	str	wzr, [x29, #136]
  40145c:	14000039 	b	401540 <kalman+0x698>
  401460:	b9408fa1 	ldr	w1, [x29, #140]
  401464:	b9404ba0 	ldr	w0, [x29, #72]
  401468:	1b007c20 	mul	w0, w1, w0
  40146c:	b9408ba1 	ldr	w1, [x29, #136]
  401470:	0b000020 	add	w0, w1, w0
  401474:	b9005fa0 	str	w0, [x29, #92]
  401478:	b9805fa0 	ldrsw	x0, [x29, #92]
  40147c:	d37df000 	lsl	x0, x0, #3
  401480:	f94053a1 	ldr	x1, [x29, #160]
  401484:	8b000020 	add	x0, x1, x0
  401488:	f900001f 	str	xzr, [x0]
  40148c:	b90087bf 	str	wzr, [x29, #132]
  401490:	14000024 	b	401520 <kalman+0x678>
  401494:	b9805fa0 	ldrsw	x0, [x29, #92]
  401498:	d37df000 	lsl	x0, x0, #3
  40149c:	f94053a1 	ldr	x1, [x29, #160]
  4014a0:	8b000020 	add	x0, x1, x0
  4014a4:	fd400001 	ldr	d1, [x0]
  4014a8:	b9408fa1 	ldr	w1, [x29, #140]
  4014ac:	b9407fa0 	ldr	w0, [x29, #124]
  4014b0:	1b007c21 	mul	w1, w1, w0
  4014b4:	b94087a0 	ldr	w0, [x29, #132]
  4014b8:	0b000020 	add	w0, w1, w0
  4014bc:	93407c00 	sxtw	x0, w0
  4014c0:	d37df000 	lsl	x0, x0, #3
  4014c4:	f94037a1 	ldr	x1, [x29, #104]
  4014c8:	8b000020 	add	x0, x1, x0
  4014cc:	fd400002 	ldr	d2, [x0]
  4014d0:	b9408ba1 	ldr	w1, [x29, #136]
  4014d4:	b9404ba0 	ldr	w0, [x29, #72]
  4014d8:	1b007c21 	mul	w1, w1, w0
  4014dc:	b94087a0 	ldr	w0, [x29, #132]
  4014e0:	0b000020 	add	w0, w1, w0
  4014e4:	93407c00 	sxtw	x0, w0
  4014e8:	d37df000 	lsl	x0, x0, #3
  4014ec:	f9403ba1 	ldr	x1, [x29, #112]
  4014f0:	8b000020 	add	x0, x1, x0
  4014f4:	fd400000 	ldr	d0, [x0]
  4014f8:	1e600840 	fmul	d0, d2, d0
  4014fc:	b9805fa0 	ldrsw	x0, [x29, #92]
  401500:	d37df000 	lsl	x0, x0, #3
  401504:	f94053a1 	ldr	x1, [x29, #160]
  401508:	8b000020 	add	x0, x1, x0
  40150c:	1e602820 	fadd	d0, d1, d0
  401510:	fd000000 	str	d0, [x0]
  401514:	b94087a0 	ldr	w0, [x29, #132]
  401518:	11000400 	add	w0, w0, #0x1
  40151c:	b90087a0 	str	w0, [x29, #132]
  401520:	b9404ba0 	ldr	w0, [x29, #72]
  401524:	51000400 	sub	w0, w0, #0x1
  401528:	b94087a1 	ldr	w1, [x29, #132]
  40152c:	6b00003f 	cmp	w1, w0
  401530:	54fffb2d 	b.le	401494 <kalman+0x5ec>
  401534:	b9408ba0 	ldr	w0, [x29, #136]
  401538:	11000400 	add	w0, w0, #0x1
  40153c:	b9008ba0 	str	w0, [x29, #136]
  401540:	b9404ba0 	ldr	w0, [x29, #72]
  401544:	51000400 	sub	w0, w0, #0x1
  401548:	b9408ba1 	ldr	w1, [x29, #136]
  40154c:	6b00003f 	cmp	w1, w0
  401550:	54fff88d 	b.le	401460 <kalman+0x5b8>
  401554:	b9408fa0 	ldr	w0, [x29, #140]
  401558:	11000400 	add	w0, w0, #0x1
  40155c:	b9008fa0 	str	w0, [x29, #140]
  401560:	b9404fa0 	ldr	w0, [x29, #76]
  401564:	51000400 	sub	w0, w0, #0x1
  401568:	b9408fa1 	ldr	w1, [x29, #140]
  40156c:	6b00003f 	cmp	w1, w0
  401570:	54fff74d 	b.le	401458 <kalman+0x5b0>
  401574:	b9008fbf 	str	wzr, [x29, #140]
  401578:	1400003b 	b	401664 <kalman+0x7bc>
  40157c:	b94083a0 	ldr	w0, [x29, #128]
  401580:	51000401 	sub	w1, w0, #0x1
  401584:	b9404fa0 	ldr	w0, [x29, #76]
  401588:	1b007c20 	mul	w0, w1, w0
  40158c:	b9408fa1 	ldr	w1, [x29, #140]
  401590:	0b000020 	add	w0, w1, w0
  401594:	b9005fa0 	str	w0, [x29, #92]
  401598:	b9805fa0 	ldrsw	x0, [x29, #92]
  40159c:	d37df000 	lsl	x0, x0, #3
  4015a0:	f9404ba1 	ldr	x1, [x29, #144]
  4015a4:	8b000020 	add	x0, x1, x0
  4015a8:	f900001f 	str	xzr, [x0]
  4015ac:	b9008bbf 	str	wzr, [x29, #136]
  4015b0:	14000025 	b	401644 <kalman+0x79c>
  4015b4:	b9805fa0 	ldrsw	x0, [x29, #92]
  4015b8:	d37df000 	lsl	x0, x0, #3
  4015bc:	f9404ba1 	ldr	x1, [x29, #144]
  4015c0:	8b000020 	add	x0, x1, x0
  4015c4:	fd400001 	ldr	d1, [x0]
  4015c8:	b9408fa1 	ldr	w1, [x29, #140]
  4015cc:	b9404fa0 	ldr	w0, [x29, #76]
  4015d0:	1b007c21 	mul	w1, w1, w0
  4015d4:	b9408ba0 	ldr	w0, [x29, #136]
  4015d8:	0b000020 	add	w0, w1, w0
  4015dc:	93407c00 	sxtw	x0, w0
  4015e0:	d37df000 	lsl	x0, x0, #3
  4015e4:	f9401fa1 	ldr	x1, [x29, #56]
  4015e8:	8b000020 	add	x0, x1, x0
  4015ec:	fd400002 	ldr	d2, [x0]
  4015f0:	b94083a0 	ldr	w0, [x29, #128]
  4015f4:	51000801 	sub	w1, w0, #0x2
  4015f8:	b9404fa0 	ldr	w0, [x29, #76]
  4015fc:	1b007c21 	mul	w1, w1, w0
  401600:	b9408ba0 	ldr	w0, [x29, #136]
  401604:	0b000020 	add	w0, w1, w0
  401608:	93407c00 	sxtw	x0, w0
  40160c:	d37df000 	lsl	x0, x0, #3
  401610:	f9404ba1 	ldr	x1, [x29, #144]
  401614:	8b000020 	add	x0, x1, x0
  401618:	fd400000 	ldr	d0, [x0]
  40161c:	1e600840 	fmul	d0, d2, d0
  401620:	b9805fa0 	ldrsw	x0, [x29, #92]
  401624:	d37df000 	lsl	x0, x0, #3
  401628:	f9404ba1 	ldr	x1, [x29, #144]
  40162c:	8b000020 	add	x0, x1, x0
  401630:	1e602820 	fadd	d0, d1, d0
  401634:	fd000000 	str	d0, [x0]
  401638:	b9408ba0 	ldr	w0, [x29, #136]
  40163c:	11000400 	add	w0, w0, #0x1
  401640:	b9008ba0 	str	w0, [x29, #136]
  401644:	b9404fa0 	ldr	w0, [x29, #76]
  401648:	51000400 	sub	w0, w0, #0x1
  40164c:	b9408ba1 	ldr	w1, [x29, #136]
  401650:	6b00003f 	cmp	w1, w0
  401654:	54fffb0d 	b.le	4015b4 <kalman+0x70c>
  401658:	b9408fa0 	ldr	w0, [x29, #140]
  40165c:	11000400 	add	w0, w0, #0x1
  401660:	b9008fa0 	str	w0, [x29, #140]
  401664:	b9404fa0 	ldr	w0, [x29, #76]
  401668:	51000400 	sub	w0, w0, #0x1
  40166c:	b9408fa1 	ldr	w1, [x29, #140]
  401670:	6b00003f 	cmp	w1, w0
  401674:	54fff84d 	b.le	40157c <kalman+0x6d4>
  401678:	b9008fbf 	str	wzr, [x29, #140]
  40167c:	14000043 	b	401788 <kalman+0x8e0>
  401680:	b9408fa1 	ldr	w1, [x29, #140]
  401684:	b9407fa0 	ldr	w0, [x29, #124]
  401688:	1b007c20 	mul	w0, w1, w0
  40168c:	b9005fa0 	str	w0, [x29, #92]
  401690:	b94083a0 	ldr	w0, [x29, #128]
  401694:	51000401 	sub	w1, w0, #0x1
  401698:	b9404ba0 	ldr	w0, [x29, #72]
  40169c:	1b007c21 	mul	w1, w1, w0
  4016a0:	b9408fa0 	ldr	w0, [x29, #140]
  4016a4:	0b000020 	add	w0, w1, w0
  4016a8:	93407c00 	sxtw	x0, w0
  4016ac:	d37df000 	lsl	x0, x0, #3
  4016b0:	f9400fa1 	ldr	x1, [x29, #24]
  4016b4:	8b000021 	add	x1, x1, x0
  4016b8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4016bc:	d37df000 	lsl	x0, x0, #3
  4016c0:	f94033a2 	ldr	x2, [x29, #96]
  4016c4:	8b000040 	add	x0, x2, x0
  4016c8:	fd400020 	ldr	d0, [x1]
  4016cc:	fd000000 	str	d0, [x0]
  4016d0:	b9008bbf 	str	wzr, [x29, #136]
  4016d4:	14000025 	b	401768 <kalman+0x8c0>
  4016d8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4016dc:	d37df000 	lsl	x0, x0, #3
  4016e0:	f94033a1 	ldr	x1, [x29, #96]
  4016e4:	8b000020 	add	x0, x1, x0
  4016e8:	fd400001 	ldr	d1, [x0]
  4016ec:	b9408fa1 	ldr	w1, [x29, #140]
  4016f0:	b9404fa0 	ldr	w0, [x29, #76]
  4016f4:	1b007c21 	mul	w1, w1, w0
  4016f8:	b9408ba0 	ldr	w0, [x29, #136]
  4016fc:	0b000020 	add	w0, w1, w0
  401700:	93407c00 	sxtw	x0, w0
  401704:	d37df000 	lsl	x0, x0, #3
  401708:	f94013a1 	ldr	x1, [x29, #32]
  40170c:	8b000020 	add	x0, x1, x0
  401710:	fd400002 	ldr	d2, [x0]
  401714:	b94083a0 	ldr	w0, [x29, #128]
  401718:	51000401 	sub	w1, w0, #0x1
  40171c:	b9404fa0 	ldr	w0, [x29, #76]
  401720:	1b007c21 	mul	w1, w1, w0
  401724:	b9408ba0 	ldr	w0, [x29, #136]
  401728:	0b000020 	add	w0, w1, w0
  40172c:	93407c00 	sxtw	x0, w0
  401730:	d37df000 	lsl	x0, x0, #3
  401734:	f9404ba1 	ldr	x1, [x29, #144]
  401738:	8b000020 	add	x0, x1, x0
  40173c:	fd400000 	ldr	d0, [x0]
  401740:	1e600840 	fmul	d0, d2, d0
  401744:	b9805fa0 	ldrsw	x0, [x29, #92]
  401748:	d37df000 	lsl	x0, x0, #3
  40174c:	f94033a1 	ldr	x1, [x29, #96]
  401750:	8b000020 	add	x0, x1, x0
  401754:	1e603820 	fsub	d0, d1, d0
  401758:	fd000000 	str	d0, [x0]
  40175c:	b9408ba0 	ldr	w0, [x29, #136]
  401760:	11000400 	add	w0, w0, #0x1
  401764:	b9008ba0 	str	w0, [x29, #136]
  401768:	b9404fa0 	ldr	w0, [x29, #76]
  40176c:	51000400 	sub	w0, w0, #0x1
  401770:	b9408ba1 	ldr	w1, [x29, #136]
  401774:	6b00003f 	cmp	w1, w0
  401778:	54fffb0d 	b.le	4016d8 <kalman+0x830>
  40177c:	b9408fa0 	ldr	w0, [x29, #140]
  401780:	11000400 	add	w0, w0, #0x1
  401784:	b9008fa0 	str	w0, [x29, #140]
  401788:	b9404ba0 	ldr	w0, [x29, #72]
  40178c:	51000400 	sub	w0, w0, #0x1
  401790:	b9408fa1 	ldr	w1, [x29, #140]
  401794:	6b00003f 	cmp	w1, w0
  401798:	54fff74d 	b.le	401680 <kalman+0x7d8>
  40179c:	b9008fbf 	str	wzr, [x29, #140]
  4017a0:	14000033 	b	40186c <kalman+0x9c4>
  4017a4:	b94083a0 	ldr	w0, [x29, #128]
  4017a8:	51000401 	sub	w1, w0, #0x1
  4017ac:	b9404fa0 	ldr	w0, [x29, #76]
  4017b0:	1b007c20 	mul	w0, w1, w0
  4017b4:	b9408fa1 	ldr	w1, [x29, #140]
  4017b8:	0b000020 	add	w0, w1, w0
  4017bc:	b9005fa0 	str	w0, [x29, #92]
  4017c0:	b9008bbf 	str	wzr, [x29, #136]
  4017c4:	14000022 	b	40184c <kalman+0x9a4>
  4017c8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4017cc:	d37df000 	lsl	x0, x0, #3
  4017d0:	f9404ba1 	ldr	x1, [x29, #144]
  4017d4:	8b000020 	add	x0, x1, x0
  4017d8:	fd400001 	ldr	d1, [x0]
  4017dc:	b9408fa1 	ldr	w1, [x29, #140]
  4017e0:	b9404ba0 	ldr	w0, [x29, #72]
  4017e4:	1b007c21 	mul	w1, w1, w0
  4017e8:	b9408ba0 	ldr	w0, [x29, #136]
  4017ec:	0b000020 	add	w0, w1, w0
  4017f0:	93407c00 	sxtw	x0, w0
  4017f4:	d37df000 	lsl	x0, x0, #3
  4017f8:	f94053a1 	ldr	x1, [x29, #160]
  4017fc:	8b000020 	add	x0, x1, x0
  401800:	fd400002 	ldr	d2, [x0]
  401804:	b9408ba1 	ldr	w1, [x29, #136]
  401808:	b9407fa0 	ldr	w0, [x29, #124]
  40180c:	1b007c20 	mul	w0, w1, w0
  401810:	93407c00 	sxtw	x0, w0
  401814:	d37df000 	lsl	x0, x0, #3
  401818:	f94033a1 	ldr	x1, [x29, #96]
  40181c:	8b000020 	add	x0, x1, x0
  401820:	fd400000 	ldr	d0, [x0]
  401824:	1e600840 	fmul	d0, d2, d0
  401828:	b9805fa0 	ldrsw	x0, [x29, #92]
  40182c:	d37df000 	lsl	x0, x0, #3
  401830:	f9404ba1 	ldr	x1, [x29, #144]
  401834:	8b000020 	add	x0, x1, x0
  401838:	1e602820 	fadd	d0, d1, d0
  40183c:	fd000000 	str	d0, [x0]
  401840:	b9408ba0 	ldr	w0, [x29, #136]
  401844:	11000400 	add	w0, w0, #0x1
  401848:	b9008ba0 	str	w0, [x29, #136]
  40184c:	b9404ba0 	ldr	w0, [x29, #72]
  401850:	51000400 	sub	w0, w0, #0x1
  401854:	b9408ba1 	ldr	w1, [x29, #136]
  401858:	6b00003f 	cmp	w1, w0
  40185c:	54fffb6d 	b.le	4017c8 <kalman+0x920>
  401860:	b9408fa0 	ldr	w0, [x29, #140]
  401864:	11000400 	add	w0, w0, #0x1
  401868:	b9008fa0 	str	w0, [x29, #140]
  40186c:	b9404fa0 	ldr	w0, [x29, #76]
  401870:	51000400 	sub	w0, w0, #0x1
  401874:	b9408fa1 	ldr	w1, [x29, #140]
  401878:	6b00003f 	cmp	w1, w0
  40187c:	54fff94d 	b.le	4017a4 <kalman+0x8fc>
  401880:	b94083a1 	ldr	w1, [x29, #128]
  401884:	b94047a0 	ldr	w0, [x29, #68]
  401888:	6b00003f 	cmp	w1, w0
  40188c:	5400274a 	b.ge	401d74 <kalman+0xecc>  // b.tcont
  401890:	b9008fbf 	str	wzr, [x29, #140]
  401894:	14000053 	b	4019e0 <kalman+0xb38>
  401898:	b9008bbf 	str	wzr, [x29, #136]
  40189c:	14000049 	b	4019c0 <kalman+0xb18>
  4018a0:	b9408fa1 	ldr	w1, [x29, #140]
  4018a4:	b9407fa0 	ldr	w0, [x29, #124]
  4018a8:	1b007c20 	mul	w0, w1, w0
  4018ac:	b9408ba1 	ldr	w1, [x29, #136]
  4018b0:	0b000020 	add	w0, w1, w0
  4018b4:	b9005fa0 	str	w0, [x29, #92]
  4018b8:	b9805fa0 	ldrsw	x0, [x29, #92]
  4018bc:	d37df000 	lsl	x0, x0, #3
  4018c0:	f94037a1 	ldr	x1, [x29, #104]
  4018c4:	8b000020 	add	x0, x1, x0
  4018c8:	f900001f 	str	xzr, [x0]
  4018cc:	b90087bf 	str	wzr, [x29, #132]
  4018d0:	14000024 	b	401960 <kalman+0xab8>
  4018d4:	b9805fa0 	ldrsw	x0, [x29, #92]
  4018d8:	d37df000 	lsl	x0, x0, #3
  4018dc:	f94037a1 	ldr	x1, [x29, #104]
  4018e0:	8b000020 	add	x0, x1, x0
  4018e4:	fd400001 	ldr	d1, [x0]
  4018e8:	b9408fa1 	ldr	w1, [x29, #140]
  4018ec:	b9404ba0 	ldr	w0, [x29, #72]
  4018f0:	1b007c21 	mul	w1, w1, w0
  4018f4:	b94087a0 	ldr	w0, [x29, #132]
  4018f8:	0b000020 	add	w0, w1, w0
  4018fc:	93407c00 	sxtw	x0, w0
  401900:	d37df000 	lsl	x0, x0, #3
  401904:	f94053a1 	ldr	x1, [x29, #160]
  401908:	8b000020 	add	x0, x1, x0
  40190c:	fd400002 	ldr	d2, [x0]
  401910:	b94087a1 	ldr	w1, [x29, #132]
  401914:	b9404fa0 	ldr	w0, [x29, #76]
  401918:	1b007c21 	mul	w1, w1, w0
  40191c:	b9408ba0 	ldr	w0, [x29, #136]
  401920:	0b000020 	add	w0, w1, w0
  401924:	93407c00 	sxtw	x0, w0
  401928:	d37df000 	lsl	x0, x0, #3
  40192c:	f94013a1 	ldr	x1, [x29, #32]
  401930:	8b000020 	add	x0, x1, x0
  401934:	fd400000 	ldr	d0, [x0]
  401938:	1e600840 	fmul	d0, d2, d0
  40193c:	b9805fa0 	ldrsw	x0, [x29, #92]
  401940:	d37df000 	lsl	x0, x0, #3
  401944:	f94037a1 	ldr	x1, [x29, #104]
  401948:	8b000020 	add	x0, x1, x0
  40194c:	1e603820 	fsub	d0, d1, d0
  401950:	fd000000 	str	d0, [x0]
  401954:	b94087a0 	ldr	w0, [x29, #132]
  401958:	11000400 	add	w0, w0, #0x1
  40195c:	b90087a0 	str	w0, [x29, #132]
  401960:	b9404ba0 	ldr	w0, [x29, #72]
  401964:	51000400 	sub	w0, w0, #0x1
  401968:	b94087a1 	ldr	w1, [x29, #132]
  40196c:	6b00003f 	cmp	w1, w0
  401970:	54fffb2d 	b.le	4018d4 <kalman+0xa2c>
  401974:	b9408fa1 	ldr	w1, [x29, #140]
  401978:	b9408ba0 	ldr	w0, [x29, #136]
  40197c:	6b00003f 	cmp	w1, w0
  401980:	540001a1 	b.ne	4019b4 <kalman+0xb0c>  // b.any
  401984:	b9805fa0 	ldrsw	x0, [x29, #92]
  401988:	d37df000 	lsl	x0, x0, #3
  40198c:	f94037a1 	ldr	x1, [x29, #104]
  401990:	8b000020 	add	x0, x1, x0
  401994:	fd400001 	ldr	d1, [x0]
  401998:	b9805fa0 	ldrsw	x0, [x29, #92]
  40199c:	d37df000 	lsl	x0, x0, #3
  4019a0:	f94037a1 	ldr	x1, [x29, #104]
  4019a4:	8b000020 	add	x0, x1, x0
  4019a8:	1e6e1000 	fmov	d0, #1.000000000000000000e+00
  4019ac:	1e602820 	fadd	d0, d1, d0
  4019b0:	fd000000 	str	d0, [x0]
  4019b4:	b9408ba0 	ldr	w0, [x29, #136]
  4019b8:	11000400 	add	w0, w0, #0x1
  4019bc:	b9008ba0 	str	w0, [x29, #136]
  4019c0:	b9404fa0 	ldr	w0, [x29, #76]
  4019c4:	51000400 	sub	w0, w0, #0x1
  4019c8:	b9408ba1 	ldr	w1, [x29, #136]
  4019cc:	6b00003f 	cmp	w1, w0
  4019d0:	54fff68d 	b.le	4018a0 <kalman+0x9f8>
  4019d4:	b9408fa0 	ldr	w0, [x29, #140]
  4019d8:	11000400 	add	w0, w0, #0x1
  4019dc:	b9008fa0 	str	w0, [x29, #140]
  4019e0:	b9404fa0 	ldr	w0, [x29, #76]
  4019e4:	51000400 	sub	w0, w0, #0x1
  4019e8:	b9408fa1 	ldr	w1, [x29, #140]
  4019ec:	6b00003f 	cmp	w1, w0
  4019f0:	54fff54d 	b.le	401898 <kalman+0x9f0>
  4019f4:	b9008fbf 	str	wzr, [x29, #140]
  4019f8:	14000043 	b	401b04 <kalman+0xc5c>
  4019fc:	b9008bbf 	str	wzr, [x29, #136]
  401a00:	14000039 	b	401ae4 <kalman+0xc3c>
  401a04:	b9408fa1 	ldr	w1, [x29, #140]
  401a08:	b9407fa0 	ldr	w0, [x29, #124]
  401a0c:	1b007c20 	mul	w0, w1, w0
  401a10:	b9408ba1 	ldr	w1, [x29, #136]
  401a14:	0b000020 	add	w0, w1, w0
  401a18:	b9005fa0 	str	w0, [x29, #92]
  401a1c:	b9805fa0 	ldrsw	x0, [x29, #92]
  401a20:	d37df000 	lsl	x0, x0, #3
  401a24:	f94033a1 	ldr	x1, [x29, #96]
  401a28:	8b000020 	add	x0, x1, x0
  401a2c:	f900001f 	str	xzr, [x0]
  401a30:	b90087bf 	str	wzr, [x29, #132]
  401a34:	14000024 	b	401ac4 <kalman+0xc1c>
  401a38:	b9805fa0 	ldrsw	x0, [x29, #92]
  401a3c:	d37df000 	lsl	x0, x0, #3
  401a40:	f94033a1 	ldr	x1, [x29, #96]
  401a44:	8b000020 	add	x0, x1, x0
  401a48:	fd400001 	ldr	d1, [x0]
  401a4c:	b9408fa1 	ldr	w1, [x29, #140]
  401a50:	b9407fa0 	ldr	w0, [x29, #124]
  401a54:	1b007c21 	mul	w1, w1, w0
  401a58:	b94087a0 	ldr	w0, [x29, #132]
  401a5c:	0b000020 	add	w0, w1, w0
  401a60:	93407c00 	sxtw	x0, w0
  401a64:	d37df000 	lsl	x0, x0, #3
  401a68:	f94037a1 	ldr	x1, [x29, #104]
  401a6c:	8b000020 	add	x0, x1, x0
  401a70:	fd400002 	ldr	d2, [x0]
  401a74:	b94087a1 	ldr	w1, [x29, #132]
  401a78:	b9404fa0 	ldr	w0, [x29, #76]
  401a7c:	1b007c21 	mul	w1, w1, w0
  401a80:	b9408ba0 	ldr	w0, [x29, #136]
  401a84:	0b000020 	add	w0, w1, w0
  401a88:	93407c00 	sxtw	x0, w0
  401a8c:	d37df000 	lsl	x0, x0, #3
  401a90:	f9404fa1 	ldr	x1, [x29, #152]
  401a94:	8b000020 	add	x0, x1, x0
  401a98:	fd400000 	ldr	d0, [x0]
  401a9c:	1e600840 	fmul	d0, d2, d0
  401aa0:	b9805fa0 	ldrsw	x0, [x29, #92]
  401aa4:	d37df000 	lsl	x0, x0, #3
  401aa8:	f94033a1 	ldr	x1, [x29, #96]
  401aac:	8b000020 	add	x0, x1, x0
  401ab0:	1e602820 	fadd	d0, d1, d0
  401ab4:	fd000000 	str	d0, [x0]
  401ab8:	b94087a0 	ldr	w0, [x29, #132]
  401abc:	11000400 	add	w0, w0, #0x1
  401ac0:	b90087a0 	str	w0, [x29, #132]
  401ac4:	b9404fa0 	ldr	w0, [x29, #76]
  401ac8:	51000400 	sub	w0, w0, #0x1
  401acc:	b94087a1 	ldr	w1, [x29, #132]
  401ad0:	6b00003f 	cmp	w1, w0
  401ad4:	54fffb2d 	b.le	401a38 <kalman+0xb90>
  401ad8:	b9408ba0 	ldr	w0, [x29, #136]
  401adc:	11000400 	add	w0, w0, #0x1
  401ae0:	b9008ba0 	str	w0, [x29, #136]
  401ae4:	b9404fa0 	ldr	w0, [x29, #76]
  401ae8:	51000400 	sub	w0, w0, #0x1
  401aec:	b9408ba1 	ldr	w1, [x29, #136]
  401af0:	6b00003f 	cmp	w1, w0
  401af4:	54fff88d 	b.le	401a04 <kalman+0xb5c>
  401af8:	b9408fa0 	ldr	w0, [x29, #140]
  401afc:	11000400 	add	w0, w0, #0x1
  401b00:	b9008fa0 	str	w0, [x29, #140]
  401b04:	b9404fa0 	ldr	w0, [x29, #76]
  401b08:	51000400 	sub	w0, w0, #0x1
  401b0c:	b9408fa1 	ldr	w1, [x29, #140]
  401b10:	6b00003f 	cmp	w1, w0
  401b14:	54fff74d 	b.le	4019fc <kalman+0xb54>
  401b18:	b9008fbf 	str	wzr, [x29, #140]
  401b1c:	14000043 	b	401c28 <kalman+0xd80>
  401b20:	b9008bbf 	str	wzr, [x29, #136]
  401b24:	14000039 	b	401c08 <kalman+0xd60>
  401b28:	b9408fa1 	ldr	w1, [x29, #140]
  401b2c:	b9407fa0 	ldr	w0, [x29, #124]
  401b30:	1b007c20 	mul	w0, w1, w0
  401b34:	b9408ba1 	ldr	w1, [x29, #136]
  401b38:	0b000020 	add	w0, w1, w0
  401b3c:	b9005fa0 	str	w0, [x29, #92]
  401b40:	b9805fa0 	ldrsw	x0, [x29, #92]
  401b44:	d37df000 	lsl	x0, x0, #3
  401b48:	f94037a1 	ldr	x1, [x29, #104]
  401b4c:	8b000020 	add	x0, x1, x0
  401b50:	f900001f 	str	xzr, [x0]
  401b54:	b90087bf 	str	wzr, [x29, #132]
  401b58:	14000024 	b	401be8 <kalman+0xd40>
  401b5c:	b9805fa0 	ldrsw	x0, [x29, #92]
  401b60:	d37df000 	lsl	x0, x0, #3
  401b64:	f94037a1 	ldr	x1, [x29, #104]
  401b68:	8b000020 	add	x0, x1, x0
  401b6c:	fd400001 	ldr	d1, [x0]
  401b70:	b9408fa1 	ldr	w1, [x29, #140]
  401b74:	b9407fa0 	ldr	w0, [x29, #124]
  401b78:	1b007c21 	mul	w1, w1, w0
  401b7c:	b94087a0 	ldr	w0, [x29, #132]
  401b80:	0b000020 	add	w0, w1, w0
  401b84:	93407c00 	sxtw	x0, w0
  401b88:	d37df000 	lsl	x0, x0, #3
  401b8c:	f94033a1 	ldr	x1, [x29, #96]
  401b90:	8b000020 	add	x0, x1, x0
  401b94:	fd400002 	ldr	d2, [x0]
  401b98:	b9408ba1 	ldr	w1, [x29, #136]
  401b9c:	b9404fa0 	ldr	w0, [x29, #76]
  401ba0:	1b007c21 	mul	w1, w1, w0
  401ba4:	b94087a0 	ldr	w0, [x29, #132]
  401ba8:	0b000020 	add	w0, w1, w0
  401bac:	93407c00 	sxtw	x0, w0
  401bb0:	d37df000 	lsl	x0, x0, #3
  401bb4:	f9401fa1 	ldr	x1, [x29, #56]
  401bb8:	8b000020 	add	x0, x1, x0
  401bbc:	fd400000 	ldr	d0, [x0]
  401bc0:	1e600840 	fmul	d0, d2, d0
  401bc4:	b9805fa0 	ldrsw	x0, [x29, #92]
  401bc8:	d37df000 	lsl	x0, x0, #3
  401bcc:	f94037a1 	ldr	x1, [x29, #104]
  401bd0:	8b000020 	add	x0, x1, x0
  401bd4:	1e602820 	fadd	d0, d1, d0
  401bd8:	fd000000 	str	d0, [x0]
  401bdc:	b94087a0 	ldr	w0, [x29, #132]
  401be0:	11000400 	add	w0, w0, #0x1
  401be4:	b90087a0 	str	w0, [x29, #132]
  401be8:	b9404fa0 	ldr	w0, [x29, #76]
  401bec:	51000400 	sub	w0, w0, #0x1
  401bf0:	b94087a1 	ldr	w1, [x29, #132]
  401bf4:	6b00003f 	cmp	w1, w0
  401bf8:	54fffb2d 	b.le	401b5c <kalman+0xcb4>
  401bfc:	b9408ba0 	ldr	w0, [x29, #136]
  401c00:	11000400 	add	w0, w0, #0x1
  401c04:	b9008ba0 	str	w0, [x29, #136]
  401c08:	b9404fa0 	ldr	w0, [x29, #76]
  401c0c:	51000400 	sub	w0, w0, #0x1
  401c10:	b9408ba1 	ldr	w1, [x29, #136]
  401c14:	6b00003f 	cmp	w1, w0
  401c18:	54fff88d 	b.le	401b28 <kalman+0xc80>
  401c1c:	b9408fa0 	ldr	w0, [x29, #140]
  401c20:	11000400 	add	w0, w0, #0x1
  401c24:	b9008fa0 	str	w0, [x29, #140]
  401c28:	b9404fa0 	ldr	w0, [x29, #76]
  401c2c:	51000400 	sub	w0, w0, #0x1
  401c30:	b9408fa1 	ldr	w1, [x29, #140]
  401c34:	6b00003f 	cmp	w1, w0
  401c38:	54fff74d 	b.le	401b20 <kalman+0xc78>
  401c3c:	b9008fbf 	str	wzr, [x29, #140]
  401c40:	14000048 	b	401d60 <kalman+0xeb8>
  401c44:	b9008bbf 	str	wzr, [x29, #136]
  401c48:	1400003e 	b	401d40 <kalman+0xe98>
  401c4c:	b9408fa1 	ldr	w1, [x29, #140]
  401c50:	b9404fa0 	ldr	w0, [x29, #76]
  401c54:	1b007c20 	mul	w0, w1, w0
  401c58:	b9408ba1 	ldr	w1, [x29, #136]
  401c5c:	0b000020 	add	w0, w1, w0
  401c60:	b9005fa0 	str	w0, [x29, #92]
  401c64:	b9805fa0 	ldrsw	x0, [x29, #92]
  401c68:	d37df000 	lsl	x0, x0, #3
  401c6c:	f9401ba1 	ldr	x1, [x29, #48]
  401c70:	8b000021 	add	x1, x1, x0
  401c74:	b9805fa0 	ldrsw	x0, [x29, #92]
  401c78:	d37df000 	lsl	x0, x0, #3
  401c7c:	f9404fa2 	ldr	x2, [x29, #152]
  401c80:	8b000040 	add	x0, x2, x0
  401c84:	fd400020 	ldr	d0, [x1]
  401c88:	fd000000 	str	d0, [x0]
  401c8c:	b90087bf 	str	wzr, [x29, #132]
  401c90:	14000024 	b	401d20 <kalman+0xe78>
  401c94:	b9805fa0 	ldrsw	x0, [x29, #92]
  401c98:	d37df000 	lsl	x0, x0, #3
  401c9c:	f9404fa1 	ldr	x1, [x29, #152]
  401ca0:	8b000020 	add	x0, x1, x0
  401ca4:	fd400001 	ldr	d1, [x0]
  401ca8:	b9408fa1 	ldr	w1, [x29, #140]
  401cac:	b9404fa0 	ldr	w0, [x29, #76]
  401cb0:	1b007c21 	mul	w1, w1, w0
  401cb4:	b94087a0 	ldr	w0, [x29, #132]
  401cb8:	0b000020 	add	w0, w1, w0
  401cbc:	93407c00 	sxtw	x0, w0
  401cc0:	d37df000 	lsl	x0, x0, #3
  401cc4:	f9401fa1 	ldr	x1, [x29, #56]
  401cc8:	8b000020 	add	x0, x1, x0
  401ccc:	fd400002 	ldr	d2, [x0]
  401cd0:	b9408ba1 	ldr	w1, [x29, #136]
  401cd4:	b9407fa0 	ldr	w0, [x29, #124]
  401cd8:	1b007c21 	mul	w1, w1, w0
  401cdc:	b94087a0 	ldr	w0, [x29, #132]
  401ce0:	0b000020 	add	w0, w1, w0
  401ce4:	93407c00 	sxtw	x0, w0
  401ce8:	d37df000 	lsl	x0, x0, #3
  401cec:	f94037a1 	ldr	x1, [x29, #104]
  401cf0:	8b000020 	add	x0, x1, x0
  401cf4:	fd400000 	ldr	d0, [x0]
  401cf8:	1e600840 	fmul	d0, d2, d0
  401cfc:	b9805fa0 	ldrsw	x0, [x29, #92]
  401d00:	d37df000 	lsl	x0, x0, #3
  401d04:	f9404fa1 	ldr	x1, [x29, #152]
  401d08:	8b000020 	add	x0, x1, x0
  401d0c:	1e602820 	fadd	d0, d1, d0
  401d10:	fd000000 	str	d0, [x0]
  401d14:	b94087a0 	ldr	w0, [x29, #132]
  401d18:	11000400 	add	w0, w0, #0x1
  401d1c:	b90087a0 	str	w0, [x29, #132]
  401d20:	b9404fa0 	ldr	w0, [x29, #76]
  401d24:	51000400 	sub	w0, w0, #0x1
  401d28:	b94087a1 	ldr	w1, [x29, #132]
  401d2c:	6b00003f 	cmp	w1, w0
  401d30:	54fffb2d 	b.le	401c94 <kalman+0xdec>
  401d34:	b9408ba0 	ldr	w0, [x29, #136]
  401d38:	11000400 	add	w0, w0, #0x1
  401d3c:	b9008ba0 	str	w0, [x29, #136]
  401d40:	b9404fa0 	ldr	w0, [x29, #76]
  401d44:	51000400 	sub	w0, w0, #0x1
  401d48:	b9408ba1 	ldr	w1, [x29, #136]
  401d4c:	6b00003f 	cmp	w1, w0
  401d50:	54fff7ed 	b.le	401c4c <kalman+0xda4>
  401d54:	b9408fa0 	ldr	w0, [x29, #140]
  401d58:	11000400 	add	w0, w0, #0x1
  401d5c:	b9008fa0 	str	w0, [x29, #140]
  401d60:	b9404fa0 	ldr	w0, [x29, #76]
  401d64:	51000400 	sub	w0, w0, #0x1
  401d68:	b9408fa1 	ldr	w1, [x29, #140]
  401d6c:	6b00003f 	cmp	w1, w0
  401d70:	54fff6ad 	b.le	401c44 <kalman+0xd9c>
  401d74:	b94083a0 	ldr	w0, [x29, #128]
  401d78:	11000400 	add	w0, w0, #0x1
  401d7c:	b90083a0 	str	w0, [x29, #128]
  401d80:	b94083a1 	ldr	w1, [x29, #128]
  401d84:	b94047a0 	ldr	w0, [x29, #68]
  401d88:	6b00003f 	cmp	w1, w0
  401d8c:	54ffa10d 	b.le	4011ac <kalman+0x304>
  401d90:	f9403ba0 	ldr	x0, [x29, #112]
  401d94:	97fffa0b 	bl	4005c0 <free@plt>
  401d98:	f94037a0 	ldr	x0, [x29, #104]
  401d9c:	97fffa09 	bl	4005c0 <free@plt>
  401da0:	f94033a0 	ldr	x0, [x29, #96]
  401da4:	97fffa07 	bl	4005c0 <free@plt>
  401da8:	b9407ba0 	ldr	w0, [x29, #120]
  401dac:	a8c97bfd 	ldp	x29, x30, [sp], #144
  401db0:	d65f03c0 	ret

0000000000401db4 <main>:
  401db4:	a9be7bfd 	stp	x29, x30, [sp, #-32]!
  401db8:	910003fd 	mov	x29, sp
  401dbc:	f9000fbf 	str	xzr, [x29, #24]
  401dc0:	90000000 	adrp	x0, 401000 <kalman+0x158>
  401dc4:	913aa000 	add	x0, x0, #0xea8
  401dc8:	fd400fa0 	ldr	d0, [x29, #24]
  401dcc:	97fffa01 	bl	4005d0 <printf@plt>
  401dd0:	d503201f 	nop
  401dd4:	a8c27bfd 	ldp	x29, x30, [sp], #32
  401dd8:	d65f03c0 	ret
  401ddc:	00000000 	.inst	0x00000000 ; undefined

0000000000401de0 <__libc_csu_init>:
  401de0:	a9bc7bfd 	stp	x29, x30, [sp, #-64]!
  401de4:	910003fd 	mov	x29, sp
  401de8:	a901d7f4 	stp	x20, x21, [sp, #24]
  401dec:	b0000094 	adrp	x20, 412000 <__FRAME_END__+0x10150>
  401df0:	b0000095 	adrp	x21, 412000 <__FRAME_END__+0x10150>
  401df4:	91374294 	add	x20, x20, #0xdd0
  401df8:	913722b5 	add	x21, x21, #0xdc8
  401dfc:	a902dff6 	stp	x22, x23, [sp, #40]
  401e00:	cb150294 	sub	x20, x20, x21
  401e04:	f9001ff8 	str	x24, [sp, #56]
  401e08:	2a0003f6 	mov	w22, w0
  401e0c:	aa0103f7 	mov	x23, x1
  401e10:	9343fe94 	asr	x20, x20, #3
  401e14:	aa0203f8 	mov	x24, x2
  401e18:	97fff9c8 	bl	400538 <_init>
  401e1c:	b4000194 	cbz	x20, 401e4c <__libc_csu_init+0x6c>
  401e20:	f9000bb3 	str	x19, [x29, #16]
  401e24:	d2800013 	mov	x19, #0x0                   	// #0
  401e28:	f8737aa3 	ldr	x3, [x21, x19, lsl #3]
  401e2c:	aa1803e2 	mov	x2, x24
  401e30:	aa1703e1 	mov	x1, x23
  401e34:	2a1603e0 	mov	w0, w22
  401e38:	91000673 	add	x19, x19, #0x1
  401e3c:	d63f0060 	blr	x3
  401e40:	eb13029f 	cmp	x20, x19
  401e44:	54ffff21 	b.ne	401e28 <__libc_csu_init+0x48>  // b.any
  401e48:	f9400bb3 	ldr	x19, [x29, #16]
  401e4c:	a941d7f4 	ldp	x20, x21, [sp, #24]
  401e50:	a942dff6 	ldp	x22, x23, [sp, #40]
  401e54:	f9401ff8 	ldr	x24, [sp, #56]
  401e58:	a8c47bfd 	ldp	x29, x30, [sp], #64
  401e5c:	d65f03c0 	ret

0000000000401e60 <__libc_csu_fini>:
  401e60:	d65f03c0 	ret

Disassembly of section .fini:

0000000000401e64 <_fini>:
  401e64:	a9bf7bfd 	stp	x29, x30, [sp, #-16]!
  401e68:	910003fd 	mov	x29, sp
  401e6c:	a8c17bfd 	ldp	x29, x30, [sp], #16
  401e70:	d65f03c0 	ret
